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AuthorTodd, D. J. author
TitleFundamentals of Robot Technology [electronic resource] : An Introduction to Industrial Robots, Teleoperators and Robot Vehicles / by D. J. Todd
ImprintDordrecht : Springer Netherlands, 1986
Connect tohttp://dx.doi.org/10.1007/978-94-011-6768-0
Descript 244 p. online resource

SUMMARY

Methods of contro1151 Mechanical master-slave telemanipulators 151 Powered telemanipulators 152 Servo control of unilateral telemanipulators 152 Bilateral servo manipulators 155 Special characteristics of teleoperators 158 Design criteria for teleoperators 159 Vehicles and transporters 160 Applications of teleoperators 161 Remote handling of radioactive materials 161 Remote handling of explosive and toxic materials 161 Telemanipulation of heavy objects 163 Underwater teleoperation 163 Teleoperation in space and planetary exploration 164 Telemanipulators for the disabled 164 Computer assisted teleoperation 166 Bibliographic notes 170 Chapter 9: Mobile robots 171 Introduction 171 Land surface robots 171 Arrangements of wheels and tracks 171 Unusual wheel and track arrangements 172 Navigation for land vehicles 174 Teleoperation 174 Dead reckoning 175 Inertial navigation 175 Tracking from a fixed base; beacons 175 Satellite navigation 175 Map matching 175 Wall following 176 Route planning 176 Control and communication 176 Sensors for mobile robots 177 Body orientation and angular rates 1 77 Body position, speed and acceleration 177 Terrain scanning 178 Types and applications of mobile robots 179 Education and research 179 Remote handling 183 Military mobile robots 183 Fire-fighting and rescue 187 Construction 188 Mining 188 Planetary exploration 188 Legged robots 188 Comparison of legs and wheels 189 Leg number and arrangement 189 Leg number 189 Leg disposition 190 Relative leg length 190 Leg construction 190 Control 191 Climbing robots 195 Robot submersibles 196 Uses of submersible robots 199 Robots in air and space 201 Space 202 Bibliographic notes 204 Chapter 10: Automated guided vehicles 205


CONTENT

1: Introduction -- Definitions of โ{128}{152}robotโ{128}{153} and โ{128}{152}roboticsโ{128}{153} -- Other definitions in robotics -- Connections between robotics and some related subjects -- Bibliographic notes -- 2: Geometric configurations for robots -- The distinction between arms and vehicles -- Structural elements of manipulators -- Degrees of freedom and number of joints -- Types of joint -- Construction of joints -- Parallel linkages -- Constrained linkages -- Distributed manipulators -- Robot transporters and workpiece positioners -- Arm configuations -- Tension structures -- Wrists -- End effectors (grippers, tools and hands) -- Bibliographic notes -- 3: Operation, programming and control of industrial robots -- Types of industrial robot and their methods of operation -- Methods of teaching and programming -- Types of controller and program memory -- Analysis and control -- Programming languages for industrial robots -- Bibliographic notes -- 4: Actuators for robots -- Pneumatic actuation -- Hydraulic actuation -- Hydrostatic circuits -- Electric actuation -- Mechanical transmission methods -- Bibliographic notes -- 5: Sensing for robots -- Joint angle -- Joint angular velocity -- Rectilinear position -- Force and torque -- Proximity sensing and range measurement -- Touch sensing -- Vision -- Types of computer vision -- Non-visual sensing in welding and other processes -- Bibliographic notes -- 6: Performance specifications of industrial robots -- Geometric configuration; number of axes -- Positioning accuracy and repeatability -- Angular accuracy and repeatability -- Speed -- Speed and acceleration accuracy -- Spatial specifications: working volume, swept area, reach -- Payload (maximum load capacity) -- Control-related specifications -- Vibration -- Miscellaneous specifications -- Bibliographic notes -- 7: Applications of industrial robots -- Machine loading -- Pallet loading and unloading -- Investment casting -- Spot welding -- Arc welding -- Spraying (paint, enamel, epoxy resin and other coatings) -- Fettling (grinding, chiselling); polishing -- Cutting -- Inspection -- Training and education; hobby robots -- Robots in assembly -- New applications for industrial robots -- Integration of industrial robots into the workplace -- Bibliographic notes -- 8: Teleoperated arms -- Methods of control -- Special characteristics of teleoperators -- Applications of teleoperators -- Computer assisted teleoperation -- Bibliographic notes -- 9: Mobile robots -- Land surface robots -- Legged robots -- Robot submersibles -- Robots in air and space -- Bibliographic notes -- 10: Automated guided vehicles -- Automated guided vehicle technology -- Bibliographic notes -- 11: Robotics and artificial intelligence -- Vision -- Voice communication -- Planning -- Modelling -- Adaptive control -- Error monitoring and recovery -- Autonomy and intelligence in robots -- Expert systems in robotics -- Bibliographic notes -- 12: Economic and social aspects of robotics -- Reasons for installing robots -- Economic costs and benefits of installing industrial robots -- Acceptability of industrial robots by the workforce -- Employment -- Other social issues of robotics -- Bibliographic notes -- References and Bibliography


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