Industrial robotics control mathematical models, software architecture, and electronics design /
Build a complete control system for industrial robots, learning all the theory and practical tips from the perspective of an automation engineer. Explore the details of kinematics, trajectories, and motion control, and then create your own circuit board to drive the electric motors and move the robo...
| Main Author: | Frigeni, Fabrizio. |
|---|---|
| Other Authors: | SpringerLink (Online service) |
| Format: | eBook |
| Language: | English |
| Published: |
Berkeley, CA :
Apress L. P.,
2023.
|
| Physical Description: |
1 online resource (638 pages) : color illustrations. |
| Series: |
Maker innovations series.
|
| Subjects: |
| Summary: |
Build a complete control system for industrial robots, learning all the theory and practical tips from the perspective of an automation engineer. Explore the details of kinematics, trajectories, and motion control, and then create your own circuit board to drive the electric motors and move the robot. After covering the theory, readers can put what they've learned in practice by programming a control firmware for the robot. Each software component is described in detail, from the HMI and the interpreter of motion commands, to the servo loop controller at the core of each servo drive. In particular, the author presents the commutation algorithm and the servo loop controller for brushless synchronous motors, which are typically employed in robotics applications. Readers will also learn how to calibrate the robot, commission it to the end-user, and design a digital twin to test and monitor the entire workcell in a safe simulated environment. Finally, the book delves into hardware, covering how to select and use electric motors and encoders, how to build servo drives and motion controllers, and how to design your own PCBs. Different electronic components and their application circuits are analyzed, showing the advantages and drawbacks of each. By the end of the book you should be able to design and build electronic boards and write their core firmware to control any kind of industrial robot for all sorts of different practical applications. What you'll learn Solve kinematics models of robots Generate safe paths and optimal motion trajectories Create a digital twin of your robot to test and monitor its movements Master the electronic commutation and closed-loop control of brushless motors Design electronics circuit boards for motion applications Who This Book Is For Robotics engineers (and students) who want to understand the theory behind the control of robotics arms, from the kinematic models of their axes to the electronic commutation of their motors. Some basic calculus and linear algebra is required for the understanding of the geometrical framework, while some electronics foundations are helpful to grasp the details of the circuits design. |
|---|---|
| Item Description: |
Intro -- Table of Contents -- About the Author -- About the Technical Reviewer -- Preface -- Chapter 1: Industrial Robots -- Nomenclature -- Mechanical Configurations -- Structure of a Robot Control System -- Digital Twin -- Summary -- Part I: Robot Geometry -- Chapter 2: Geometrical Framework -- Reference Frames -- Frame Operations -- Frame Translations -- Frame Rotations -- Properties of a Rotation Matrix -- Composing Rotations: Euler Angles -- Decomposing a Rotation Matrix -- Column Vectors -- Expressing Rotations -- Combining Translations and Rotations -- Example. Inverted Transformation -- Summary -- Chapter 3: Forward Kinematics -- Mechanical Structure -- Step-by-Step Solution -- Combined Transformation Matrix -- Numerical Test -- Zero Frame -- Tool Frame -- Mechanical Coupling -- Summary -- Chapter 4: Inverse Kinematics -- Closed-Form Derivation -- Nonlinear Problem -- Nonunique Solution -- Singularities -- IK Step 1: Decoupling -- IK Step 2: Solve the Arm -- IK Step 3: Solve the Wrist -- Numerical Test -- Zero Frame -- Tool Frame -- Mechanical Coupling -- Summary -- Part II: Robot Movements -- Chapter 5: Path-Planning -- PTP Movements -- Path Movements. Quaternions -- SLERP -- Line -- Circle -- Spline -- De Casteljau's Algorithm -- Round Edges -- Transitions -- Path Length -- External Path Corrections -- Summary -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled. Untitled -- Chapter 6: Workspace Monitoring -- Linearization -- Safe Zones -- Forbidden Zones -- Wire-frame Model -- Safe Orientation -- Self-Collision -- Capsules -- Exclusive Zones -- Collision Detection -- Summary -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Chapter 7: Trajectory Generator -- S-Curve Profile -- Sinusoidal Profile -- Bezier Profile -- Time-Optimal Movements. Differential Kinematics -- Path Speed Definitions -- Optimal Motion in Practice -- Time Filtering -- External Path Corrections -- Summary -- Untitled -- Untitled -- Untitled -- Untitled -- Untitled -- Chapter 8: Statics and Dynamics -- Statics -- Singularities -- Dynamics -- Dynamic Model -- Lagrangian Method -- Newton-Euler Method -- Parameters Identification -- Torque Feed-Forward -- Trajectory Optimization -- Teach by Hand -- Motor Sizing -- Summary -- Part III: Robot Software -- Chapter 9: Firmware -- Human-Machine Interface -- Interpreter -- Main Controller -- Kernel Interface. Servo Drives. Build a complete control system for industrial robots, learning all the theory and practical tips from the perspective of an automation engineer. Explore the details of kinematics, trajectories, and motion control, and then create your own circuit board to drive the electric motors and move the robot. After covering the theory, readers can put what they've learned in practice by programming a control firmware for the robot. Each software component is described in detail, from the HMI and the interpreter of motion commands, to the servo loop controller at the core of each servo drive. In particular, the author presents the commutation algorithm and the servo loop controller for brushless synchronous motors, which are typically employed in robotics applications. Readers will also learn how to calibrate the robot, commission it to the end-user, and design a digital twin to test and monitor the entire workcell in a safe simulated environment. Finally, the book delves into hardware, covering how to select and use electric motors and encoders, how to build servo drives and motion controllers, and how to design your own PCBs. Different electronic components and their application circuits are analyzed, showing the advantages and drawbacks of each. By the end of the book you should be able to design and build electronic boards and write their core firmware to control any kind of industrial robot for all sorts of different practical applications. What you'll learn Solve kinematics models of robots Generate safe paths and optimal motion trajectories Create a digital twin of your robot to test and monitor its movements Master the electronic commutation and closed-loop control of brushless motors Design electronics circuit boards for motion applications Who This Book Is For Robotics engineers (and students) who want to understand the theory behind the control of robotics arms, from the kinematic models of their axes to the electronic commutation of their motors. Some basic calculus and linear algebra is required for the understanding of the geometrical framework, while some electronics foundations are helpful to grasp the details of the circuits design. |
| Physical Description: |
1 online resource (638 pages) : color illustrations. |
| ISBN: |
9781484289891 1484289897 |