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.
Author(s): Matjaž Mihelj; Tadej Bajd; Aleš Ude; Jadran Lenarčič; Aleš Stanovnik; Marko Munih; Jure Rejc; Sebastjan Šlajpah
Publisher: Springer
Year: 2018
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
