Robotics

This book introduces readers to robotics, industrial robot mechanisms, and types of robots, e.g. parallel robots, mobile robots and humanoid robots. The book is based on over 20 years of teaching robotics and has been extensively class tested and praised for its simplicity. It addresses the following subjects: a general introduction to robotics; basic characteristics of industrial robot mechanisms; position and movement of an object, which are described by homogenous transformation matrices; a geometric model of robot mechanisms expanded with robot wrist orientation description in this new edition; a brief introduction to the kinematics and dynamics of robots; robot sensors and planning of robot trajectories; fundamentals of robot vision; basic control schemes resulting in either desired end-effector trajectory or force; robot workcells with feeding devices and robot grippers. This second edition has been expanded to include the following new topics: parallel robots; collaborative robots; teaching of robots; mobile robots; and humanoid robots. The book is optimally suited for courses in robotics or industrial robotics and requires a minimal grasp of physics and mathematics. The 1st edition of this book won the Outstanding Academic Title distinction from the library magazine CHOICE in 2011. Preface Contents 1 Introduction 1.1 Robot Manipulator 1.2 Industrial Robotics 2 Homogenous Transformation Matrices 2.1 Translational Transformation 2.2 Rotational Transformation 2.3 Pose and Displacement 2.4 Geometrical Robot Model 3 Geometric Description of the Robot Mechanism 3.1 Vector Parameters of a Kinematic Pair 3.2 Vector Parameters of the Mechanism 4 Orientation 5 Two-Segment Robot Manipulator 5.1 Kinematics 5.2 Statics 5.3 Workspace 5.4 Dynamics 6 Parallel Robots 6.1 Characteristics of Parallel Robots 6.2 Kinematic Arrangements of Parallel Robots 6.3 Modelling and Design of Parallel Robots 7 Robot Sensors 7.1 Principles of Sensing 7.2 Sensors of Movement 7.2.1 Placing of Sensors 7.2.2 Potentiometer 7.2.3 Optical Encoder 7.2.4 Magnetic Encoder 7.2.5 Tachometer 7.2.6 Inertial Measurement Unit 7.3 Contact Sensors 7.3.1 Tactile Sensor 7.3.2 Limit Switch and Bumper 7.3.3 Force and Torque Sensor 7.3.4 Joint Torque Sensor 7.4 Proximity and Ranging Sensors 7.4.1 Ultrasonic Rangefinder 7.4.2 Laser Rangefinder and Laser Scanner 8 Robot Vision 8.1 System Configuration 8.2 Forward Projection 8.3 Backward Projection 8.3.1 Single Camera 8.3.2 Stereo Vision 8.4 Image Processing 8.5 Object Pose from Image 8.5.1 Camera Calibration 8.5.2 Object Pose 9 Trajectory Planning 9.1 Interpolation of the Trajectory Between Two Points 9.2 Interpolation by Use of via Points 10 Robot Control 10.1 Control of the Robot in Internal Coordinates 10.1.1 PD Control of Position 10.1.2 PD Control of Position with Gravity Compensation 10.1.3 Control of the Robot Based on Inverse Dynamics 10.2 Control of the Robot in External Coordinates 10.2.1 Control Based on the Transposed Jacobian Matrix 10.2.2 Control Based on the Inverse Jacobian Matrix 10.2.3 PD Control of Position with Gravity Compensation 10.2.4 Control of the Robot Based on Inverse Dynamics 10.3 Control of the Contact Force 10.3.1 Linearization of a Robot System Through Inverse Dynamics 10.3.2 Force Control 11 Robot Environment 11.1 Robot Safety 11.2 Robot Peripherals in Assembly Processes 11.2.1 Assembly Production Line Configurations 11.3 Feeding Devices 11.4 Conveyors 11.5 Robot Grippers and Tools 12 Collaborative Robots 12.1 Collaborative Industrial Robot System 12.2 Collaborative Robot 12.3 Collaborative Operation 12.3.1 Safety-Rated Monitored Stop 12.3.2 Hand Guiding 12.3.3 Speed and Separation Monitoring 12.3.4 Power and Force Limiting 12.4 Collaborative Robot Grippers 12.5 Applications of Collaborative Robotic System 13 Mobile Robots 13.1 Mobile Robot Kinematics 13.2 Navigation 13.2.1 Localization 13.2.2 Path Planning 13.2.3 Path Control 14 Humanoid Robotics 14.1 Biped Locomotion 14.1.1 Zero-Moment Point 14.1.2 Generation of Walking Patterns 14.2 Imitation Learning 14.2.1 Observation of Human Motion and Its Transfer to Humanoid Robot Motion 14.2.2 Dynamic Movement Primitives 14.2.3 Convergence Properties of Linear Dynamic Systems 14.2.4 Dynamic Movement Primitives for Point-to-Point Movements 14.2.5 Estimation of DMP Parameters from a Single Demonstration 14.2.6 Modulation of DMPs 15 Accuracy and Repeatability of Industrial Manipulators A Derivation of the Acceleration in Circular Motion Further Reading Index