© 1999 by CRC Press LLC Robotics 14.1 Introduction ...14-2 14.2 Commercial Robot Manipulators...14-3 Commercial Robot Manipulators • Commercial Robot Controllers 14.3 Robot Configuration
Trang 1Lewis, F.L.; et al “Robotics”
Mechanical Engineering Handbook
Ed Frank Kreith
Boca Raton: CRC Press LLC, 1999
c1999 by CRC Press LLC
Trang 2© 1999 by CRC Press LLC
Robotics
14.1 Introduction 14-2 14.2 Commercial Robot Manipulators 14-3 Commercial Robot Manipulators • Commercial Robot
Controllers 14.3 Robot Configurations 14-15 Fundamentals and Design Issues • Manipulator Kinematics • Summary
14.4 End Effectors and Tooling 14-24
A Taxonomy of Common End Effectors • End Effector Design Issues • Summary
14.5 Sensors and Actuators 14-33 Tactile and Proximity Sensors • Force Sensors • Vision •
Actuators 14.6 Robot Programming Languages 14-48 Robot Control • System Control • Structures and Logic •
Special Functions • Program Execution • Example Program • Off-Line Programming and Simulation
14.7 Robot Dynamics and Control 14-51 Robot Dynamics and Properties • State Variable
Representations and Computer Simulation • Cartesian Dynamics and Actuator Dynamics • Computed-Torque (CT) Control and Feedback Linearization • Adaptive and Robust Control • Learning Control • Control of Flexible-Link and Flexible-Joint Robots • Force Control • Teleoperation 14.8 Planning and Intelligent Control 14-69 Path Planning • Error Detection and Recovery • Two-Arm
Coordination • Workcell Control • Planning and Artifical Intelligence • Man-Machine Interface
14.9 Design of Robotic Systems 14-77 Workcell Design and Layout • Part-Feeding and Transfers
14.10 Robot Manufacturing Applications 14-84 Product Design for Robot Automation • Economic Analysis • Assembly
14.11 Industrial Material Handling and Process Applications of Robots 14-90 Implementation of Manufacturing Process Robots • Industrial Applications of Process Robots
14.12 Mobile, Flexible-Link, and Parallel-Link Robots 14-102 Mobile Robots • Flexible-Link Robot Manipulators • Parallel-Link Robots
Frank L Lewis
University of Texas at Arlington
John M Fitzgerald
University of Texas at Arlington
Ian D Walker
Rice University
Mark R Cutkosky
Stanford University
Kok-Meng Lee
Georgia Tech
Ron Bailey
University of Texas at Arlington
Frank L Lewis
University of Texas at Arlington
Chen Zhou
Georgia Tech
John W Priest
University of Texas at Arlington
G T Stevens, Jr.
University of Texas at Arlington
John M Fitzgerald
University of Texas at Arlington
Kai Liu
University of Texas at Arlington