000			06031 a2200229 4500
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020			_a0070226253
040			_aGAMADERO2 _bEspañol _cGAMADERO2
100			_aK.sFu-R.C Gonzalez- C.S.G. Lee
245			_aRobotics,Control,sensing,Vision,and Intelligence /
250			_a1
260			_bMc Graw hill
300			_a580 páginas _bIlustraciones, Tablas y Gráficas _c21.5 cm x 14.8 cm
504			_aIncluye Referencias Bibliográficas
505			_aPreface 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
520			_a1.1 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
942			_cLIB _2ddc
945			_a1 _badmin _c1261 _dJenny Viridiana Quiroz Linares
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