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: |
Table of Contents:
- 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
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- Chapter 6: Workspace Monitoring
- Linearization
- Safe Zones
- Forbidden Zones
- Wire-frame Model
- Safe Orientation
- Self-Collision
- Capsules
- Exclusive Zones
- Collision Detection
- Summary
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- 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
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- 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.