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actuator applications arc welding Articulated Robots assembly operations axis block camera capable Cartesian chapter closed-loop control commands Contact sensing surfaces contact sensors continuous path control conveyor coordinates cylindrical defined degree of precision degrees of freedom detector device distance drive units electrodes encoder end effector envelope environment example exerted feeder finishing flexible grip gripper human operator identify industrial robots involves learning light pen light source linear motion loading and unloading measurement mechanical arm memory motor move the robot orientation payload perform peripheral equipment pneumatic drive point to point position prismatic joint production programming methods revolute joints robot arm robot controller robot operation rotary screw sensing array sensing matrix shown in Figure sophisticated spot welding spray painting station strain gauges teach pendant teach-through teaching methods transfer type of drive type of robot velocity vertical articulated vision sensor welding gun workpiece