Introduction to Robotics

1 General Introduction to Robots.- 1.1 Dedication and Classification of Robotic Systems.- 1.2 General Features of Robotic Mechanisms and their Classification.- References.- 2 Manipulator Kinematic Model.- 2.1 Introduction.- 2.2 Definitions.- 2.2.1 Mechanical Structure.- 2.2.2 Link.- 2.2.3 Kinematic Pair.- 2.2.4 Kinematic Chain.- 2.2.5 Joint Coordinates.- 2.2.6 External Coordinates.- 2.2.7 Direct Kinematic Problem.- 2.2.8 Inverse Kinematic Problem.- 2.2.9 Redundancy.- 2.3 Direct Kinematic Problem.- 2.3.1 Manipulator Hand Position.- 2.3.1.1 Homogeneous Transformation Matrices.- 2.3.2 Manipulator Hand Orientation.- 2.4 Inverse Kinematic Problem.- 2.4.1 Analytical Solutions.- 2.4.2 Numerical Solutions.- 2.4.3 The Jacobian Matrix.- 2.5 Manipulator Path Generation.- 2.6 Conclusion.- References.- 3 Dynamics and Dynamic Analysis of Manipulation Robots.- 3.1 Introduction.- 3.2 Mathematical Model of Manipulation Robot Dynamics.- 3.2.1 Mathematical Models of Actuators.- 3.2.2 Trajectories Synthesis and Dynamic Analysis of Manipulation Robots.- 3.2.2.1 Transfer of Manipulator Tip Along Prescribed Trajectory.- 3.2.2.2 Transfer of Working Object with Desired Orientation along Prescribed Trajectory.- 3.2.3 Calculation of Other Dynamic Characteristics.- 3.2.3.1 Diagrams of Torque vs. r.p.m.- 3.2.3.2 Calculation of the Power Needed and the Energy Consumed.- 3.2.4 Testing of Dynamic Characteristics.- 3.2.4.1 Tests of a D.C. Electromotor.- 3.2.4.2 Choice of Optimal Design Parameters.- 3.3 Dynamics of Manipulation Robots in Conditions of Mechanical Vibrations Impact.- 3.3.1 Basis Vibrations.- 3.3.2 Forming Differential Equations of Motion.- 3.4 Dynamics of Robots Under Action of External Reaction Forces.- 3.4.1 Practical Cases of Constrained Gripper Motion.- 3.4.2 Mathematical Model of Manipulator with Constraints of Gripper Motion.- 3.4.3 Gripper Moving Along a Surface.- A.3.1 Connection Between the Moving and Fixed System.- A.3.2 Determining Velocities and Accelerations.- A.3.3 Momentum of Rigid Body with Respect to a Fixed Pole.- A.3.4 Example of Mathematical Model Derivation.- References.- 4 Control of Robots.- 4.1 Hierarchical Control of Robots.- 4.2 Control of a Single Joint of a Robot.- 4.2.1 Model of Actuator and Joint Dynamics.- 4.2.2 Synthesis of Servosystem.- 4.2.3 The Influence of the Variable Moment of Inertia of the Mechanism.- 4.2.4 Influence of Gravity Moment and Friction.- 4.2.5 Synthesis of the Servosystem for Trajectory Tracking.- 4.3 Control of Simultaneous Motion of Several Robot Joints.- 4.3.1 Analysis of the Influence of Dynamic Forces in Simultaneous Motion of Several Joints.- 4.3.2 Dynamic Control of Robots.- 4.3.3 Computer-aided Synthesis of Robot Control.- 4.4 Effects of Payload Variation and Notion of Adaptive Control of Robots.- 4.5 Control of Robots in Assembly Tasks.- References.- 5 Microprocessor Implementation of Control Algorithms.- 5.1 Introduction.- 5.2 Basic Subsystems of Modern Robot Controllers.- 5.3 Program Modules.- 5.3.1 User-interface.- 5.3.2 Kinematic Module.- 5.3.3 Dynamic Module.- 5.4 Conclusion.- References.- 6 Industrial Robot Programming Systems.- 6.1 Introduction.- 6.2 Describing the Motion.- 6.3 Sensory Data Processing.- 6.4 Synchronization.- 6.5 Implementations of Robot Programming Systems.- 6.6 Robot Programming Examples.- 6.7 Additional Reading.- References.- 7 Sensors in Robotics.- 7.1 Positional Sensors.- 7.1.1 Resolvers.- 7.1.2 Encoders.- 7.1.3 Potentiometers.- 7.1.4 Performance Comparison.- 7.1.4.1 Mechanical Characteristics.- 7.1.4.2 Environmental Conditions.- 7.1.4.3 Installation.- 7.1.4.4 Accuracy.- 7.1.4.5 Reliability.- 7.2 Environment Sensors.- 7.2.1 Force Sensors.- 7.2.2 Tactile Sensors.- 7.2.3 Ultrasonic Sensors.- 7.3 Robot Vision.- 7.3.1 Illuminating the Scene.- 7.3.2 Special Vision Sensors.- 7.3.3 Lasers.- References.- 8 Elements, Structures and Application of Industrial Robots.- 8.1 Basic Postulates of Industrial Robot Design.- 8.1.1 Specifications of Industrial Robots as Mechanical Structures.- 8.2 Design Solutions of Main Robot Sub-assemblies.- 8.2.1 Pedestals of Robots.- 8.2.2 Angular Drives.- 8.2.3 Linear Drives.- 8.2.4 Industrial Robot Grippers.- 8.3 Examples of Industrial Robot Applications.- 8.3.1 Electrical Spot-Welding.- 8.3.2 Electrical Seam Welding.- 8.3.3 Pressure Die-Casting.- 8.3.4 Spray Painting.- 8.3.5 Machine Tool Serving.- 8.3.6 Materials Handling and Palletization.- 8.3.7 Processing Castings and Stampings.- 8.3.8 Applying Glue and Leakproofing.- 8.3.9 Assembly by Robots.- 8.3.10 Special Applications of Robots.- References.- 9 Robotics and Flexible Automation Systems.- 9.1 Introduction.- 9.2 Functional Structure of Flexible Automation Systems.- 9.2.1 Computerized Numerical Control.- 9.2.1.1 CNC System.- 9.2.1.2 NC Programming.- 9.2.1.3 Adaptive Control.- 9.2.2 Computerized Transport Systems and Mobile Robots.- 9.3 Control of Flexible Automation Systems.- 9.3.1 Control of Flexible Manufacturing Systems.- 9.3.2 Control of Multirobot Systems.- 9.3.2.1 Off-line Multirobot Trajectory Planning.- 9.3.2.2 On-line Multirobot Trajectory Planning.- 9.4. Hardware and Software Requirements for FAS.- 9.4.1 An Example of the Information Flow in FAS.- References.- Appendix A.9 Coloured Petri Nets.- A.9.1 General Notions on Petri Nets.- A.9.2 Execution Rules of Petri Nets.- A.9.3 Non-primitive Coloured Petri Nets.- A.9.4 Normalized Coloured Petri Nets.- References.