Robotics,Control,sensing,Vision,and Intelligence /
K.sFu-R.C Gonzalez- C.S.G. Lee
Robotics,Control,sensing,Vision,and Intelligence / - 1 - Mc Graw hill - 580 páginas Ilustraciones, Tablas y Gráficas 21.5 cm x 14.8 cm
Incluye Referencias Bibliográficas
Preface
1. Introduction
1.1. Background
1.2 Historical Development
13 Robot Arm Kinematics and Dynamics
1.4 Manipulator Trajectory Planning
and Motion Control
1.5 Robot Sensing
1.6 Robot Programming Languages
1.7 Machine Intelligence
1.8 References
2. Robot Arm Kinematics
2.2
2.1 Introduction
12
2.2 The Direct Kinematics Problem
13
2.3. The Inverse Kinematics Solution
52
2.4. Concluding Remarks
75
76
References
76
Problems
3. Robot Arm Dynamics
3.1 Introduction
3.2 Lagrange-Euler Formulation
3.3. Newton-Euler Formation
3.4 Generalized D'Alembert Equations of Motion
3.5. Concluding Remarks
References.
Problems
vii
4. Planning of Manipulator Trajectories
41. Introduction
4.2 General Considerations on Trajectory Planning
4.3 Joint-interpolated Trajectories
4.4. Planning of Manipulator Cartesian
Path Trajectories
4.5. Concluding Remarks
References
Problems
5. Control of Robot Manipulators
5.1. Introduction
5.2. Control of the Puma
203
Robot Arm
205
5.3. Computed Torque Technique
5.4 Near-Minimum-Time Control
223
5.5. Variable Structure Control
226
5.6. Nonlinear Decoupled Feedback
Control
227
5.7. Resolved Motion Control
232
5.8. Adaptive Control
244
5.9. Concluding Remarks
263
References
265
Problems
265
6. Sensing
267
6.1 Introduction
267
6.2. Range Sensing
268
6.3. Proximity Sensing
276
6.4. Touch Sensors
284
6.5. Force and Torque Sensing
6.6. Concluding Remarks
289
293
References
Problems
293
293
7. Low-Level Vision
71. Introduction
296
7.2 Image Acquisition
Dimary MA Jюбоя
296
7.3. Illumination Techniques
7.4. Imaging Geometry
Some Basic Relationships Between Pixels E
307
328
7.6. Preprocessing 7.5.
7.7. Concluding Remarks
331
References
359
Problems
360
cealdong
360
8. Higher-Level Vision
81 Introduction
362
362
363
8.2 Segmentation
395
8.3 Description
8.4 Segmentation and Description of Three-Dimensional Structures
424
8.5 Recognition
439
8.6 Interpretation
8.7. Concluding Remarks
445
References
447
Problems
9. Robot Programming Languages
450
9.1. Introduction
9.2 Characteristics of Robot
451
Level Languages
9.3 Characteristics of Task-
462
Level Languages
470
9.4. Concluding Remarks
472
References
473
Problems
10. Robot Intelligence and Task Planning
474
10.1 Introduction
474
10.2. State Space Search
484
10.3. Problem Reduction
489
10.4 Use of Predicate Logic
10.5. Means-Ends Analysis
493
10.6. Problem-Solving
497
10.7 Robot Learning
10.8. Robot Task Planning
10.9. Basic Problems in Task Planning
509
10.10. Expert Systems and Knowledge Engineering
516
10.11 Concluding Remarks References
519
520
Appendix
A Vectors and Matrices
B Manipulator Jacobian
Bibliography
Index
1.1 BACKGROUND
With a pressing need for increased productivity and the delivery of end products of uniform quality, industry is turning more and more toward computer-based auto-mation. At the present time, most automated manufacturing tasks are carried out by special-purpose machines designed to perform predetermined functions in a manufacturing process. The inflexibility and generally high cost of these machines, often called hard automation systems, have led to a broad-based interest in the use of robots capable of performing a variety of manufacturing functions in a more flexible working environment and at lower production costs
The word robot originated from the Czech word robota, meaning work. Webster's dictionary defines robot as "an automatic device that performs functions ordinarily ascribed to human beings With this definition, washing machines may be considered robots A definition used by the Robot Institute of America gives a more precise description of industrial robots: "A robot is a reprogrammable multi-functional manipulator designed to move materials, parts, tools, or special-ized devices, through variable programmed motions for the performance of a variety of tasks." In short, a robot is a reprogrammable general-purpose manipu-lator with external sensors that can perform various assembly tasks. With this definition, a robot must possess intelligence, which is normally due to computer algorithms associated with its control and sensing systems.
An industrial robot is a general-purpose, computer-controlled manipulator con-sisting of several rigid links connected in series by revolute or prismatic joints One end of the chain is attached to a supporting base, while the other end is free and equipped with a tool to manipulate objects or perform assembly tasks. The motion of the joints results in relative motion of the links Mechanically, a robot is composed of an arm (or mainframe) and a wrist subassembly plus a tool. It is designed to reach a workpiece located within its work volume. The work volume is the sphere of influence of a robot whose arm can deliver the wrist subassembly unit to any point within the sphere. The arm subassembly generally can move with three degrees of freedom
0070226253
Robotics,Control,sensing,Vision,and Intelligence / - 1 - Mc Graw hill - 580 páginas Ilustraciones, Tablas y Gráficas 21.5 cm x 14.8 cm
Incluye Referencias Bibliográficas
Preface
1. Introduction
1.1. Background
1.2 Historical Development
13 Robot Arm Kinematics and Dynamics
1.4 Manipulator Trajectory Planning
and Motion Control
1.5 Robot Sensing
1.6 Robot Programming Languages
1.7 Machine Intelligence
1.8 References
2. Robot Arm Kinematics
2.2
2.1 Introduction
12
2.2 The Direct Kinematics Problem
13
2.3. The Inverse Kinematics Solution
52
2.4. Concluding Remarks
75
76
References
76
Problems
3. Robot Arm Dynamics
3.1 Introduction
3.2 Lagrange-Euler Formulation
3.3. Newton-Euler Formation
3.4 Generalized D'Alembert Equations of Motion
3.5. Concluding Remarks
References.
Problems
vii
4. Planning of Manipulator Trajectories
41. Introduction
4.2 General Considerations on Trajectory Planning
4.3 Joint-interpolated Trajectories
4.4. Planning of Manipulator Cartesian
Path Trajectories
4.5. Concluding Remarks
References
Problems
5. Control of Robot Manipulators
5.1. Introduction
5.2. Control of the Puma
203
Robot Arm
205
5.3. Computed Torque Technique
5.4 Near-Minimum-Time Control
223
5.5. Variable Structure Control
226
5.6. Nonlinear Decoupled Feedback
Control
227
5.7. Resolved Motion Control
232
5.8. Adaptive Control
244
5.9. Concluding Remarks
263
References
265
Problems
265
6. Sensing
267
6.1 Introduction
267
6.2. Range Sensing
268
6.3. Proximity Sensing
276
6.4. Touch Sensors
284
6.5. Force and Torque Sensing
6.6. Concluding Remarks
289
293
References
Problems
293
293
7. Low-Level Vision
71. Introduction
296
7.2 Image Acquisition
Dimary MA Jюбоя
296
7.3. Illumination Techniques
7.4. Imaging Geometry
Some Basic Relationships Between Pixels E
307
328
7.6. Preprocessing 7.5.
7.7. Concluding Remarks
331
References
359
Problems
360
cealdong
360
8. Higher-Level Vision
81 Introduction
362
362
363
8.2 Segmentation
395
8.3 Description
8.4 Segmentation and Description of Three-Dimensional Structures
424
8.5 Recognition
439
8.6 Interpretation
8.7. Concluding Remarks
445
References
447
Problems
9. Robot Programming Languages
450
9.1. Introduction
9.2 Characteristics of Robot
451
Level Languages
9.3 Characteristics of Task-
462
Level Languages
470
9.4. Concluding Remarks
472
References
473
Problems
10. Robot Intelligence and Task Planning
474
10.1 Introduction
474
10.2. State Space Search
484
10.3. Problem Reduction
489
10.4 Use of Predicate Logic
10.5. Means-Ends Analysis
493
10.6. Problem-Solving
497
10.7 Robot Learning
10.8. Robot Task Planning
10.9. Basic Problems in Task Planning
509
10.10. Expert Systems and Knowledge Engineering
516
10.11 Concluding Remarks References
519
520
Appendix
A Vectors and Matrices
B Manipulator Jacobian
Bibliography
Index
1.1 BACKGROUND
With a pressing need for increased productivity and the delivery of end products of uniform quality, industry is turning more and more toward computer-based auto-mation. At the present time, most automated manufacturing tasks are carried out by special-purpose machines designed to perform predetermined functions in a manufacturing process. The inflexibility and generally high cost of these machines, often called hard automation systems, have led to a broad-based interest in the use of robots capable of performing a variety of manufacturing functions in a more flexible working environment and at lower production costs
The word robot originated from the Czech word robota, meaning work. Webster's dictionary defines robot as "an automatic device that performs functions ordinarily ascribed to human beings With this definition, washing machines may be considered robots A definition used by the Robot Institute of America gives a more precise description of industrial robots: "A robot is a reprogrammable multi-functional manipulator designed to move materials, parts, tools, or special-ized devices, through variable programmed motions for the performance of a variety of tasks." In short, a robot is a reprogrammable general-purpose manipu-lator with external sensors that can perform various assembly tasks. With this definition, a robot must possess intelligence, which is normally due to computer algorithms associated with its control and sensing systems.
An industrial robot is a general-purpose, computer-controlled manipulator con-sisting of several rigid links connected in series by revolute or prismatic joints One end of the chain is attached to a supporting base, while the other end is free and equipped with a tool to manipulate objects or perform assembly tasks. The motion of the joints results in relative motion of the links Mechanically, a robot is composed of an arm (or mainframe) and a wrist subassembly plus a tool. It is designed to reach a workpiece located within its work volume. The work volume is the sphere of influence of a robot whose arm can deliver the wrist subassembly unit to any point within the sphere. The arm subassembly generally can move with three degrees of freedom
0070226253
