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Engineering - Mechanical Engineering Handbook - Robotics (19

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Engineering - Mechanical Engineering Handbook - Robotics (1999).pdf

Lewis, F.L.; et. al. “Robotics”
Mechanical Engineering Handbook
Ed. Frank Kreith
Boca Raton: CRC Press LLC, 1999
D.L.
14.1 Introduction....................................................................14-2
14.2 Commercial Robot Manipulators...................................14-3
Commercial Robot Manipulators • Commercial Robot
Controllers
14.3 Robot Configurations ...................................................14-15
Fundamentals and Design Issues • Manipulator Kinematics •
Summary
14.4 End Effectors and Tooling...........................................14-24
A Taxonomy of Common End Effectors • End Effector Design
Issues • Summary
14.5 Sensors and Actuators..................................................14-33
Tactile and Proximity Sensors • Force Sensors • Vision •
Actuators
14.6 Robot Programming Languages ..................................14-48
Robot Control • System Control • Structures and Logic •
Special Functions • Program Execution • Example Program •
Off-Line Programming and Simulation
14.7 Robot Dynamics and Control ......................................14-51
Robot Dynamics and Properties • State Variable
Representations and Computer Simulation • Cartesian
Dynamics and Actuator Dynamics • Computed-Torque (CT)
Control and Feedback Linearization • Adaptive and Robust
Control • Learning Control • Control of Flexible-Link and
Flexible-Joint Robots • Force Control • Teleoperation
14.8 Planning and Intelligent Control..................................14-69
Path Planning • Error Detection and Recovery • Two-Arm
Coordination • Workcell Control • Planning and Artifical
Intelligence • Man-Machine Interface
14.9 Design of Robotic Systems..........................................14-77
Workcell Design and Layout • Part-Feeding and Transfers
14.10 Robot Manufacturing Applications..............................14-84
Product Design for Robot Automation • Economic Analysis •
Assembly
14.11 Industrial Material Handling and Process Applications of
Robots...........................................................................14-90
Implementation of Manufacturing Process Robots • Industrial
Applications of Process Robots
14.12 Mobile, Flexible-Link, and Parallel-Link Robots .....14-102
Mobile Robots • Flexible-Link Robot Manipulators • Parallel-
Link Robots

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Engineering - Mechanical Engineering Handbook - Robotics (19


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