Computing Techniques for RobotsI. ALEKSANDER Kobler Unit for Information Technology Management, Imperial College of Science and Technology, London, England It is now over half a decade since Joseph Engelberger wrote: 'Given a six-articulation arm of any configuration, software can be powerful enough to think only in tool coordinates. That is, a programmer concerns himself only with the tool on the end of the robot arm. He can think of the tool's frame of reference and com puter subroutines automatically make the various articulations move so as to accomplish the desired tool manipulation. ' As is often the case with statements of this kind, they are appealing and generally well-founded in technological feasibility. But in order to turn the prediction into reality it requires the dedication and in ventiveness of an international community of researchers. The object of this book is to provide a window on to some of the advances made by this community which go towards the fulfilment of Engelberger's predictions. A significant factor in the framework within which this work is being pursued is the phenomenal advance in the availability of inex pensive and highly compact computing power. It becomes increas ingly possible to imagine powerful microprocessors providing local intelligence at key points in a robot arm Uoints, gripper, etc) by being connected through a communications network and controlled by some specially designated supervisory microchip. |
Contents
| 9 | |
| 16 | |
Editors introduction to Chapter 3 35 333 | 35 |
Editors introduction to Chapter 4 | 57 |
Constrained average path tracking | 88 |
Editors introduction to Chapter 6 | 101 |
Editors introduction to Chapters 7 8 | 111 |
Solution of kinematic equations for robot | 131 |
Editors introduction to Chapter 9 | 151 |
Trajectory planning for a multiarm robot in | 179 |
Cooperation of two manipulators in assembly | 197 |
Editors introduction to Chapters 12 13 221 | 220 |
The development of a suite of programs for | 248 |
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Common terms and phrases
algorithm angle arm motion Artificial Intelligence automatic axis bell crank binary image CATIA Coiffet components configuration CONTINUE BY STEP contour coordinate system DEFINE USE ERASE degrees of freedom described detection diagonal matrix digital value direction displacement dynamic edge ELEM element p(X environment Equating elements ERASE CONTINUE F₁ Figure geometrical graph graphical grasping gray levels gripper industrial robot infrared input Kalman filter kinematic chain kinematic model LAM ROBOTIQUE V2.1 mathematical measured mechanism ment method Montpellier motors movement node OPERATN operator field parameters pattern recognition performance phase pixel potentiometers PRESS BUFFER PLOT probe problem proximity sensors Queen Mary College raster elements receptacle robot manipulator rotation S₁ segment solid object solution sonar space spline function stage stochastic approximation surface Table techniques teleoperation terminal device tion tool-tip torques trajectory planning transformation matrix vector velocity wrist motion