tailieunhanh - 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 . 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 Commercial Robot Commercial Robot Manipulators Commercial Robot Controllers Robot Fundamentals and Design Issues Manipulator Kinematics Summary End Effectors and A Taxonomy of Common End Effectors End Effector Design Issues Summary Sensors and Tactile and Proximity Sensors Force Sensors Vision Actuators Robot Programming Robot Control System Control Structures and Logic Special Functions Program Execution Example Program Off-Line Programming and Simulation Robot Dynamics and 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 Planning and Intelligent Path Planning Error Detection and Recovery Two-Arm Coordination Workcell Control Planning and Artifical Intelligence Man-Machine Interface Design of Robotic Workcell Design and Layout Part-Feeding and Transfers Robot Manufacturing Product Design for Robot Automation Economic Analysis Assembly Industrial Material Handling and .