Fundamentals of Robot Technology An Introduction to Industrial Robot
Methods of contro1151 Mechanical master-slave telemanipulators 151 Powered telemanipulators 152 Servo control of unilateral telemanipulators 152 Bilateral servo manipulators 155 Special characteristics of teleoperators 158 Design criteria for teleoperator
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ROBOT
TECHNOLOGY An Introduction to Industrial Robots, Teleoperators and Robot Vehicles
D J Todd
&\ Kogan Page
First published in 1986 by Kogan Page Ltd 120 Pentonville Road, London Nl 9JN Copyright © 1986 DJ Todd Softcover reprint of the hardcover lst edition 1986 All rights reserved British library Cataloguing in Publication Data Todd, DJ. Fundamentals of robot technology: an introduction to industrial robots, teleoperators and robot vehicles. 1. Robots, Industrial I. Title 629.8'92 TS191 ISBN-13: 978-94-011-6770-3 e-ISBN-13: 978-94-011-6768-0 DOl: 10.1007/978-94-011-6768-0 Anchor Brendon Ltd, Tiptree, Essex
Contents
Chapter 1: Introduction
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Definitions of 'robot' and 'robotics' 10 Other definitions in robotics 10 Connections between robotics and some related subjects 11 Artificial intelligence 11 Flexible manufacturing systems, factory automation, computer-aided manufacturing 12 Bibliographic notes 12
Chapter 2:
Geometric configurations for robots
15
Introduction 15 The distinction between arms and vehicles 15 Structural elements of manipulators 16 Degrees of freedom and number of joints 16 Types of joint 17 Construction of joints 18 Parallel linkages 18 Constrained linkages 20 Distributed manipulators 20 Robot transporters and workpiece positioners 20 Arm configuations 21 Cartesian 21 Polar 24 Cy lindrical 24 Horizontally jointed arms 24 Vertically jointed or anthropomorphic arms 24 Other arm designs 24 Tension structures 27 Wrists 27 Direct drive to each axis 29 Gear drives 30 Compliance in wrists 32 End effectors (grippers, tools and hands) 33 Two-jaw grippers 34 Special purpose mechanical grippers 35 Vaccum and magnetic grippers 37 Tools 38 Tool and gripper changing 38 Anthropomorphic and other adaptive hands 39 Two dimensional adaptive grippers 40 Anthropomorphic hands 40 Bibliographic notes 42
Chapter 3:
Operation, programming and control of industrial robots Types of industrial robot and their methods of operation 43 Pick and place manipulators 44 Point to point robots 45 Continuous path robots 45 Methods of teaching and programming 45 Programming pick and place robots 46
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Walk-through teaching or pendant teaching 46 Walk-through teaching with path control 47 Lead-through teaching or physical arm leading 48 Off-line programming 48 The implications of sensing for robot control 48 Types of controller and program memory 49 Analysis and control 49 Formulating the kinemati---
