Engineering Mechanical Engineering Handbook Robotics (19

Engineering - Mechanical Engineering Handbook - Robotics (1999).pdf

Lewis, F.L.; et. al. Robotics?

MechanicalEngineering Handbook

Ed. Frank Kreith

Boca Raton: CRC Press LLC, 1999

D.L.

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

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