Computing Techniques for Robots
I. ALEKSANDER Kobler Unit for Information Technology Management, Imperial College of Science and Technology, London, England It is now over half a decade since Joseph Engelberger wrote: 'Given a six-articulation arm of any configuration, software can be p
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Edited by Igor Aleksander
Chapters 2 to 13 inclusive were first published in Digital Systems for Industrial Automation by Crane Russak & Company Inc, 3 East 44th Street, New York, NY 10017, USA. This collected edition first published in Great Britain in 1985 by Kogan Page Ltd, 120 Penton ville Road, London Nl 9JN Copyright © Chapters 2 to 13 inclusive Crane Russak & Company Inc 1982, 1983 and 1984 Copyright © Chapter 1 and Editor's Introductions Igor Aleksander 1985. Softcover reprint of the hardcover 1st edition 1985 British Library Cataloguing in Publication Data Computing techniques for robots. 1. Robots - Programming 2. Computers Aleksander, Igor 629.8 92 TJ211
ISBN 978-1-4684-6863-2 DOl 10.1 007/978-1-4684-6861-8
ISBN 978-1-4684-6861-8 (eBook)
Contents
Chapter 1
Introduction I. Aleksander
9
Robotic Practice 10; Exploiting Mathematics 11; Making Sense of Sensors 12; Computing for Design 13; Future Directions 14
Part I: Sensor Information Processing Chapter 2
Editor's introduction to Chapter 2
17
A method for grasping randomly oriented objects using touch sensing D.l. Todd
18
Introduction 18; Theory 19; Development of Sensors and Techniques 22; Examples of Applications 26; Programming 30; Error Recovery 31; An Outline Design for a Gripper with Touch Sensing 33; Conclusions 33
Editor's introduction to Chapter 3
Chapter 3
Method of contour recognition Z. M. Wojcik
35 36
Introduction 37; The Method of Automatic Detection of Objects 38; The Method of Automatic Removal of Isolated Disturbances 43; The Method of Derivation of Contours 44; The Method of Recognizing Contours Detected 46; Discussion 49
Chapter 4
Editor's introduction to Chapter 4
57
The design of sensors for a mobile teleoperator robot C. M. Witkowski, A. H. Bond and M. Burton
58
Introduction - Teleoperator and Industrial Robotics 58; On the Proper Interface between Man and Machine 60; The QMCAI Mark 5 Robot 60; The Interface between Robot Hardware and Computer 64; Low-level Robot Control Software 66; The Sensor System 67; Layout of the Electronic Subsystems 81; Conclusions 81; Acknowledgements 83
Part II: Mathematical Concerns Chapter 5
Editor's introduction to Chapter 5
87
Constrained average path tracking for industrial robots 1. Y. S. Luh
88
Introduction 88; Equation of Motion for Mechanical Manipulator 90; Discrete-time Model of Manipulator 91; Estimation of Parameters 92; Path-Tracking Controller 96; Desired Joint Path 97; Concluding Remarks 98; Acknowledgement 99
Chapter 6
Editor's introduction to Chapter 6
101
The application of spline functions to trajectory generation for computer-controlled manipulators C. C. Cook and C. Y. Ho
102
Introduction 102; Analysis 104; Discussion 109; Acknowledgement 110
Editor's introduction to Chapters 7 & 8
Chapter 7
Kinematic equations of robot manipulators
1. Lenarcic
111 112
Introduction 112; Geometric Modelling of a Manipulator 114; Kinematic Modelling of a Manipulator 123; Conclusion 129
Chapter 8
Solution of kinematic equations for robot manipulators C. Y. Ho
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