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Robotics Mechanical Engineering Handbook

The word “robot” was introduced by the Czech playright Karel ˇ Capek in his 1920 play Rossum’s Universal Robots. The word “robota” in Czech means simply “work.” In spite of such practical beginnings, science fiction writers and early Hollywood movies have given us a romantic notion of robots. Thus, in the 1960s robots held out great promises for miraculously revolutionizing industry overnight. In fact, many of the more far-fetched expectations from robots have failed to materialize. . | Lewis F.L. et. al. Robotics Mechanical Engineering Handbook Ed. Frank Kreith Boca Raton CRC Press LLC 1999 1999 by CRC Press LLC Robotics Frank L. Lewis University of Texas at Arlington John M. Fitzgerald University of Texas at Arlington Ian D. Walker Rice University Mark R. Cutkosky Stanford University Kok-Meng Lee Georgia Tech Ron Bailey University of Texas at Arlington Frank L. Lewis University of Texas at Arlington Chen Zhou Georgia Tech John W. Priest University of Texas at Arlington G. T. Stevens Jr. University of Texas at Arlington John M. Fitzgerald University of Texas at Arlington Kai Liu University of Texas at Arlington 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 .