Robotics and Automation HandbookThomas R. Kurfess As the capability and utility of robots has increased dramatically with new technology, robotic systems can perform tasks that are physically dangerous for humans, repetitive in nature, or require increased accuracy, precision, and sterile conditions to radically minimize human error. The Robotics and Automation Handbook addresses the major aspects of designing, fabricating, and enabling robotic systems and their various applications. It presents kinetic and dynamic methods for analyzing robotic systems, considering factors such as force and torque. From these analyses, the book develops several controls approaches, including servo actuation, hybrid control, and trajectory planning. Design aspects include determining specifications for a robot, determining its configuration, and utilizing sensors and actuators. The featured applications focus on how the specific difficulties are overcome in the development of the robotic system. With the ability to increase human safety and precision in applications ranging from handling hazardous materials and exploring extreme environments to manufacturing and medicine, the uses for robots are growing steadily. The Robotics and Automation Handbook provides a solid foundation for engineers and scientists interested in designing, fabricating, or utilizing robotic systems. |
Contents
NewtonEuler Dynamics of Robots | |
Kanes Method in Robotics | |
Keith W Buffinton | |
Kenneth A Loparo and Ioannis S Vakalis | |
Trajectory Planning for Flexible Robots | |
Error Budgeting | |
Dragan Kostić Bram de Jager and Maarten Steinbuch | |
Siddharth P Nagarkatti and Darren M Dawson | |
Sliding Mode Control of Robotic Manipulators | |
Neville Hogan and Stephen P Buerger | |
Kazuhiro Kosuge and Yasuhisa Hirata | |
A Survey of Geometric Vision | |
Kun Huang and Yi | |
Flexible Robot Arms | |
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Common terms and phrases
a₁ acceleration actuators algorithm angular applied approach axis C₁ camera command components Computer Vision configuration constraint control algorithms control design coordinate frame defined denote developed devices dynamic equations dynamic model elements encoder end effector equations of motion error budget example feedback control feedback linearization feedforward filter flexible force control forces and torques frequency friction function geometric gripper haptic interface homogeneous transformation IEEE inertia input interaction inverse inverse dynamics inverse kinematics Jacobian joint Kane's Kane’s method kinematic linear loop machine mass matrix measurement mechanical motion control motor multiple nonlinear object output parameters passive payload performance position Pro/ENGINEER q₁ reconstruction reference Riemannian metric rigid body robot dynamics robot manipulators robotic systems robust rotation rotation matrix sensors shaping shown in Figure simulation SolidWorks space structure surface tool torques trajectory U₁ variables vector velocity vibration virtual environment X₁ zero