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2019 | Buch

Introduction Kapitel lesen Erstes Kapitel lesen

Robotics

verfasst von: Prof. Dr. Matjaž Mihelj, Prof. Dr. Tadej Bajd, Prof. Dr. Aleš Ude, Prof. Dr. Jadran Lenarčič, Prof. Dr. Aleš Stanovnik, Prof. Dr. Marko Munih, Dr. Jure Rejc, Dr. Sebastjan Šlajpah

Verlag: Springer International Publishing

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik" , Springer Professional "Wirtschaft"

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Über dieses Buch

This book introduces readers to robotics, industrial robot mechanisms, and types of robots, e.g. parallel robots, mobile robots and humanoid robots. The book is based on over 20 years of teaching robotics and has been extensively class tested and praised for its simplicity.

It addresses the following subjects: a general introduction to robotics; basic characteristics of industrial robot mechanisms; position and movement of an object, which are described by homogenous transformation matrices; a geometric model of robot mechanisms expanded with robot wrist orientation description in this new edition; a brief introduction to the kinematics and dynamics of robots; robot sensors and planning of robot trajectories; fundamentals of robot vision; basic control schemes resulting in either desired end-effector trajectory or force; robot workcells with feeding devices and robot grippers.

This second edition has been expanded to include the following new topics: parallel robots; collaborative robots; teaching of robots; mobile robots; and humanoid robots. The book is optimally suited for courses in robotics or industrial robotics and requires a minimal grasp of physics and mathematics.

The 1st edition of this book won the Outstanding Academic Title distinction from the library magazine CHOICE in 2011.

Inhaltsverzeichnis

Frontmatter
Chapter 1. Introduction
Abstract
Today’s robotics can be described as a science dealing with intelligent movement of various robot mechanisms which can be classified in the following four groups: robot manipulators, robot vehicles, man-robot systems and biologically inspired robots.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 2. Homogenous Transformation Matrices
Abstract
As stated previously robots have either translational or rotational joints. To describe the degree of displacement in a joint we need a unified mathematical description of translational and rotational displacements. The translational displacement \(\mathbf d \), given by the vector.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 3. Geometric Description of the Robot Mechanism
Abstract
The geometric description of the robot mechanism is based on the usage of translational and rotational homogenous transformation matrices. A coordinate frame is attached to the robot base and to each segment of the mechanism, as shown in Fig. 3.1. Then, the corresponding transformation matrices between the consecutive frames are determined. A vector expressed in one of the frames can be transformed into another frame by successive multiplication of intermediate transformation matrices.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 4. Orientation
Abstract
We often describe our environment as a three-dimensional world. The world of the roboticist is, however, six-dimensional. He must not only consider the position of an object, but also its orientation. When a robot gripper or end-effector is approaches an object to be grasped, the space angles between the gripper and the object are of the utmost importance.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 5. Two-Segment Robot Manipulator
Abstract
Kinematics is part of classic mechanics that study motion without considering the forces which are responsible for this motion. Motion is in general described by trajectories, velocities and accelerations. In robotics we are mainly interested in trajectories and velocities, as both can be measured by the joint sensors.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 6. Parallel Robots
Abstract
This chapter deals with the increasingly popular and high-performing robots that are known as parallel robots. Standard mechanisms of industrial robots possess serial kinematic chains in which links and joints alternate as shown in Fig. 6.1.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 7. Robot Sensors
Abstract
The human sensory system encompasses sensors of vision and hearing, kinesthetic sensors (movement, force, and touch), sensors of taste and smell. These sensors deliver input signals to the brain which uses this sensory information to build its own image of the environment and takes decisions for further actions. Similar requirements are valid also for robot mechanisms. However, because of the complexity of human sensing, robot sensing is limited to fewer sensors.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 8. Robot Vision
Abstract
The task of robot vision is to recognize the geometry of the robot workspace from a digital image. It is our aim to find the relation between the coordinates of a point in the two-dimensional (2D) image and the coordinates of the point in the real three-dimensional (3D) robot environment.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 9. Trajectory Planning
Abstract
In previous chapters we studied mathematical models of robot mechanisms. First of all we were interested in robot kinematics and dynamics. Before applying this knowledge to robot control, we must become familiar with the planning of robot motion. The aim of trajectory planning is to generate the reference inputs to the robot control system, which will ensure that the robot end-effector will follow the desired trajectory.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 10. Robot Control
Abstract
The problem of robot control can be explained as a computation of the forces or torques which must be generated by the actuators in order to successfully accomplish the robot’s task. The appropriate working conditions must be ensured both during the transient period as well as in the stationary state.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 11. Robot Environment
Abstract
This chapter will illustrate robot environments, exemplified by product assembly processes where robots are a part of a production line or as completely independent units. The example can be easily replicated also to other tasks, such as product inspection and testing, welding, painting, pick and place operations etc.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 12. Collaborative Robots
Abstract
Until now, industrial robots have always been fast and robust devices that work on specific tasks designed for them. To stay in accordance with the aforementioned rule they were performing behind fixed and interlocked guards and sensitive protective equipment to prevent human intrusion into their workspace. With the introduction of collaborative robots the cages are omitted as those robots are designed to work with humans. They are built with different safety features to prevent collisions, but if a collision occurs, the mechanism will move in the opposite direction or stop completely to avoid causing injury.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 13. Mobile Robots
Abstract
A mobile robot is a device that is capable of locomotion. It has the ability to move around its environment using wheels, tracks, legs, or a combination of them. It may also fly, swim, crawl, or roll. Mobile robots are used for various applications in factories (automated guided vehicles), homes (floor cleaning devices), hospitals (transportation of food and medications), in agriculture (fruit and vegetable picking, fertilization, planting), for military as well as search and rescue operations. They address the demand for flexible material handling, the desire for robots to be able to operate on large structures, and the need for rapid reconfiguration of work areas.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 14. Humanoid Robotics
Abstract
Even before modern robotics began to develop, philosophers, engineers, and artists were interested in machines similar to humans. The first known example of a humanoid mechanism, which design has been preserved and can still be rebuilt today, is a mechanical knight created by Leonardo da Vinci and presented to the Milanese ruler Ludovico Sforza around 1495.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Chapter 15. Accuracy and Repeatability of Industrial Manipulators
Abstract
In this chapter we shall briefly consider performance criteria and the methods for testing of industrial robot manipulators as described in the ISO 9283 standard. Before addressing accuracy and repeatability of industrial manipulators we will summarize basic information about robot manipulators.
Matjaž Mihelj, Tadej Bajd, Aleš Ude, Jadran Lenarčič, Aleš Stanovnik, Marko Munih, Jure Rejc, Sebastjan Šlajpah
Backmatter
Metadaten
Titel
Robotics
verfasst von
Prof. Dr. Matjaž Mihelj
Prof. Dr. Tadej Bajd
Prof. Dr. Aleš Ude
Prof. Dr. Jadran Lenarčič
Prof. Dr. Aleš Stanovnik
Prof. Dr. Marko Munih
Dr. Jure Rejc
Dr. Sebastjan Šlajpah
Copyright-Jahr
2019
Electronic ISBN
978-3-319-72911-4
Print ISBN
978-3-319-72910-7
DOI
https://doi.org/10.1007/978-3-319-72911-4

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