9780130613097

This books serves as an introduction to robotics analysis, the systems and sub-systems that constitute robots and robotic systems, and robotics applications.All of the fundamentals of robotics are coveredrobotics analysis; including kinematics, kinetics and force control, and trajectory planning of robots; its sub-systems such as actuators, sensors, and vision systems; as well as robotics applications.Introduction to Roboticsalso includes many subjects related to mechatronics, microprocessor actuator control, integration of sensors, vision systems, and fuzzy logic.For practicing mechanical engineers, electronic and electric engineers, computer engineers, and engineering technologists who would like to learn about robotics.

Fundamentals

1

(28)

Introduction

1

(1)

What is a Robot?

2

(1)

Classification of Robots

2

(2)

What is Robotics?

4

(1)

History of Robotics

4

(1)

Advantages and Disadvantages of Robots

5

(1)

Robot Components

6

(2)

Robot Degrees of Freedom

8

(3)

Robot Joints

11

(1)

Robot Coordinates

11

(1)

Robot Reference Frames

12

(1)

Programming Modes

13

(2)

Robot Characteristics

15

(1)

Robot Workspace

16

(1)

Robot Languages

16

(4)

Robot Applications

20

(4)

Other Robots and Applications

24

(1)

Social Issues

25

(1)

Summary

25

(4)

References

26

(1)

Problems

27

(2)

Robot Kinematics: Position Analysis

29

(66)

Introduction

29

(1)

Robots as Mechanisms

29

(2)

Matrix Representation

31

(7)

Representation of a point in space

31

(1)

Representation of a vector in space

32

(1)

Representation of a frame at the origin of a reference frame

33

(1)

Representation of a frame in a reference frame

34

(1)

Representation of a Rigid Body

35

(3)

Homogeneous Transformation Matrices

38

(1)

Representation of Transformations

38

(10)

Representation of a pure translation

39

(1)

Representation of a pure rotation about an axis

40

(3)

Representation of combined transformations

43

(3)

Transformations relative to the rotating

46

(2)

Inverse of Transformation Matrices

48

(5)

Forward and Inverse Kinematics of Robots

53

(14)

Forward and Inverse Kinematic Equations for Position

54

(5)

Forward and Inverse Kinematic Equations for Orientation

59

(8)

Forward and Inverse Kinematic Equations for Position and Orientation

67

(1)

Denavit-Hartenberg Representation of Forward Kinematic Equations of Robots

67

(9)

The Inverse Kinematic Solution of Robots

76

(4)

Inverse Kinematic Programming of Robots

80

(2)

Degeneracy and Dexterity

82

(1)

The Fundamental Problem with the Denavit-Hartenberg Representation

83

(2)

Design Project 1: A Three-degree-of-freedom Robot

85

(1)

Summary

86

(9)

References

87

(1)

Problems

88

(7)

Differential Motions and Velocities

95

(24)

Introduction

95

(1)

Differential Relationships

95

(2)

Jacobian

97

(2)

Differential Motions of a Frame

99

(5)

Differential Translations

100

(1)

Differential Rotations

100

(1)

Differential Rotation about a general axis k

101

(1)

Differential Transformations of a Frame

102

(2)

Interpretation of the Differential Change

104

(1)

Differential Changes Between Frames

104

(2)

Differential Motions of a Robot and Its Hand Frame

106

(1)

Calculation of the Jacobian

107

(3)

How to Relate the Jacobian and the Differential Operator

110

(1)

Inverse Jacobian

111

(4)

Design Project

115

(1)

Summary

116

(3)

References

116

(1)

Problems

117

(2)

Dynamic Analysis and Forces

119

(28)

Introduction

119

(1)

Lagrangian Mechanics: A Short Overview

120

(7)

Effective Moments of Inertia

127

(1)

Dynamic Equations for Multiple-Degree-of-Freedom Robots

128

(11)

Kinetic Energy

128

(4)

Potential Energy

132

(1)

The Lagrangian

133

(1)

Robot's Equations of Motion

133

(6)

Static Force Analysis of Robots

139

(2)

Transformation of Forces and Moments Between Coordinate Frames

141

(2)

Design Project

143

(1)

Summary

143

(4)

References

144

(1)

Problems

144

(3)

Trajectory Planning

147

(26)

Introduction

147

(1)

Path vs. Trajectory

147

(1)

Joint-Space vs. Cartesian-Space Descriptions

148

(2)

Basics of Trajectory Planning

150

(3)

Joint-Space Trajectory Planning

153

(12)

Third-Order Polynomial Trajectory Planning

154

(3)

Fifth-Order Polynomial Trajectory Planning

157

(1)

Linear Segments with Parabolic Blends

157

(3)

Linear Segments with Parabolic Blends and Via Points

160

(1)

Higher Order Trajectories

161

(4)

Other Trajectories

165

(1)

Cartesian-Space Trajectories

165

(5)

Continuous Trajectory Recording

170

(1)

Design Project

170

(1)

Summary

171

(2)

References

171

(1)

Problems

172

(1)

Actuators

173

(46)

Introduction

173

(1)

Characteristics of Actuating Systems

174

(4)

Weight, Power-to-Weight Ratio, Operating Pressure

174

(1)

Stiffness vs. Compliance

174

(1)

Use of Reduction Gears

175

(3)

Comparison of Actuating Systems

178

(1)

Hydraulic Devices

178

(6)

Pneumatic Devices

184

(2)

Electric Motors

186

(21)

DC Motors

188

(1)

AC Motors

189

(1)

Brushless DC motors

189

(1)

Direct Drive Electric Motors

189

(1)

Servomotors

190

(1)

Stepper Motors

191

(16)

Microprocessor Control of Electric Motors

207

(3)

Pulse Width Modulation

209

(1)

Direction Control of DC Motors with an H-Bridge

210

(1)

Magnetostrictive Actuators

210

(1)

Shape-Memory Type Metals

211

(1)

Speed Reduction

212

(3)

Design Project 1

215

(1)

Design Project 2

215

(1)

Summary

216

(3)

References

217

(1)

Problems

218

(1)

Sensors

219

(29)

Introduction

219

(1)

Sensor Characteristics

219

(3)

Position Sensors

222

(7)

Potentiometers

222

(1)

Encoders

223

(3)

Linear Variable Differential Transformers (LVDT)

226

(2)

Resolvers

228

(1)

Time-of-Travel Displacement Sensor

229

(1)

Velocity Sensors

229

(1)

Encoders

230

(1)

Tachometers

230

(1)

Differentiation of position signal

230

(1)

Acceleration Sensors

230

(1)

Force and Pressure Sensors

231

(2)

Piezoelectric

231

(1)

Force Sensing resistor

231

(1)

Strain gauges

231

(2)

Torque Sensors

233

(1)

Microswitches

233

(1)

Light and Infrared Sensors

233

(1)

Touch and Tactile Sensors

234

(2)

Proximity Sensors

236

(2)

Magnetic Proximity Sensors

236

(1)

Optical Proximity Sensors

236

(1)

Ultrasonic Proximity Sensors

237

(1)

Inductive Proximity Sensors

237

(1)

Capacitive Proximity Sensors

237

(1)

Eddy Current Proximity Sensors

238

(1)

Range-finders

238

(3)

Ultrasonic Range Finders

239

(1)

Light Based Range Finders

240

(1)

Sniff Sensors

241

(1)

Vision Systems

241

(1)

Voice Recognition Devices

241

(1)

Voice Synthesizers

242

(1)

Remote Center Compliance (RCC) Device

242

(3)

Design Project

245

(1)

Summary

246

(2)

References

246

(2)

Image Processing and Analysis with Vision Systems

248

(63)

Introduction

248

(1)

Image Processing versus Image Analysis

248

(1)

Two- and Three-Dimensional Image Types

249

(1)

What is an Image

249

(1)

Acquisition of Images

250

(4)

Vidicon Camera

250

(2)

Digital Camera

252

(2)

Digital Images

254

(1)

Frequency Domain vs. Spatial Domain

254

(1)

Fourier Transform of a Signal and its Frequency Content

255

(2)

Frequency Content of an Image; Noise, Edges

257

(2)

Spatial Domain Operations: Convolution Mask

259

(3)

Sampling and Quantization

262

(1)

Sampling Theorem

263

(4)

Image-Processing Techniques

267

(1)

Histogram of Images

267

(1)

Thresholding

268

(1)

Connectivity

269

(2)

Noise Reduction

271

(4)

Convolution Masks

272

(1)

Image Averaging

273

(1)

Frequency Domain

274

(1)

Median Filters

274

(1)

Edge Detection

275

(4)

Hough Transform

279

(3)

Segmentation

282

(1)

Segmentation by Region Growing and Region Splitting

282

(2)

Binary Morphology Operations

284

(4)

Thickening Operation

284

(1)

Dilation

285

(1)

Erosion

285

(1)

Skeletonization

286

(1)

Open Operation

287

(1)

Close Operation

287

(1)

Fill Operation

287

(1)

Gray Morphology Operations

288

(1)

Erosion

288

(1)

Dilation

288

(1)

Image Analysis

288

(1)

Object Recognition by Features

288

(10)

Basic Features Used for Object Identification

289

(1)

Moments

290

(7)

Template Matching

297

(1)

Discrete Fourier Descriptors

297

(1)

Computed Tomography

297

(1)

Depth Measurement with Vision Systems

298

(3)

Scene Analysis vs. Mapping

298

(1)

Range Detection and Depth Analysis

299

(1)

Stereo Imaging

299

(1)

Scene Analysis with Shading and Sizes

300

(1)

Specialized Lighting

301

(1)

Image Data Compression

302

(2)

Intraframe Spatial Domain Techniques

302

(1)

Interframe Coding

303

(1)

Real-Time Image Processing

304

(1)

Heuristics

304

(1)

Applications of Vision Systems

305

(1)

Design project

306

(1)

Summary

306

(5)

References

307

(1)

Problems

308

(3)

Fuzzy Logic Control

311

(20)

Introduction

311

(2)

Fuzzy Control: What is needed

313

(1)

Crisp Values vs. Fuzzy Values

314

(1)

Fuzzy Sets: Degrees of Membership and Truth

314

(1)

Fuzzification

315

(1)

Fuzzy Inference Rule Base

316

(2)

Defuzzification

318

(4)

Center-of-Gravity Method

318

(1)

Mamdani's Inference Method

318

(4)

Simulation of Fuzzy Logic Controller

322

(1)

Applications of Fuzzy Logic in Robotics

323

(4)

Design Project

327

(1)

Summary

328

(3)

References

328

(1)

Problems

328

(3)

APPENDIX A

331

(8)

A.1. Matrix Algebra and Notation: A Review

331

(5)

A.2. Calculation of an Angle From its Sine, Cosine, or Tangent

336

(3)

Problems

338

(1)

Index

339

What is included with this book?

The New copy of this book will include any supplemental materials advertised. Please check the title of the book to determine if it should include any access cards, study guides, lab manuals, CDs, etc.

The Used, Rental and eBook copies of this book are not guaranteed to include any supplemental materials. Typically, only the book itself is included. This is true even if the title states it includes any access cards, study guides, lab manuals, CDs, etc.

As one of my students once said years ago, "in the life of every product, there comes a time when you have to shoot the designer and go into production." It seems that the same is true for a book. An author of a textbook such as this one may go on forever trying to cover any and every conceivable subject related to the book in order to generate an all-encompassing book that satisfies every teacher and student. But the intention behind writing this book was not that at all. The intention was to write a book that has most subjects that an undergraduate engineering student or a practicing engineer may need to know to be familiar with the subject, to be able to understand robots and robotics, to be able to design a robot, and to be able to integrate a robot in appropriate applications. As such, it covers all necessary fundamentals of robotics, its components and subsystems, and its applications. This book was originally written for Cal Poly Mechanical Engineering Department's Robotics course. With encouragement from different people, it was somewhat modified to the present form. The book is intended for senior or introductory graduate courses in robotics, as well as for practicing engineers who would like to learn about robotics. Although the book covers a fair amount of mechanics and kinematics, it also covers microprocessor applications, vision systems, sensors, and electric motors. Thus, it can easily be used by mechanical engineers, electronic and electrical engineers, computer engineers, and engineering technologists. The book comprises nine chapters. Chapter 1 covers introductory subjects that familiarize the reader with the necessary background information that is used in the rest of the book. This includes some historical information, robot components, robot characteristics, robot languages, and robotic applications. Chapter 2 covers the forward and inverse kinematics of robots, including frame representations, transformations, position and orientation analysis, and the Denavit-Hartenberg representation of robot kinematics. Chapter 3 continues with differential motions and velocity analysis of robots and frames. Chapter 4 presents an analysis of robot dynamics and forces. Lagrangian mechanics is used as the primary method of analysis and development for this chapter. Chapter 5 discusses methods of path and trajectory planning, both in joint-space and in Cartesian-space. Chapter 6 covers actuators, including hydraulic devices, electric motors such as DC servomotors and stepper motors, Pneumatic devices, as well as many other novel actuators. It also covers microprocessor control of these actuators. Although this book is not a complete mechatronics book, it does cover a fair amount of mechatronics. Except for the design of a microprocessor, many aspects of mechatronic applications are covered in this chapter. Chapter 7 is a discussion of sensors that are used in robotics and robotic applications. Chapter 8 covers vision systems, including many different techniques for image processing and image analysis. Chapter 9 cover some basic principles of fuzzy logic and its applications in microprocessor control and robotics. This coverage is not intended to be a complete and thorough analysis of fuzzy logic, but instead an introduction to it. It is believed that students and engineers who find it interesting will continue on their own. Appendix A is a quick review of matrix algebra and some other mathematical facts that are needed throughout this book. Since the book is written for senior-level engineering students or for practicing engineers, the assumption is that the users are familiar with matrix algebra, as well as with basic feedback control theory and analysis. For this reason, except for some basic review, this material is not separately covered in this book. Obviously, to know enough control theory to be proficient in it, one has to have access to a complete controls book, something that is beyond th

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Introduction to Robotics

Introduction to Robotics

0130613096

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