Robotics,Control,sensing,Vision,and Intelligence /

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