Computing Techniques for Robots

Igor Aleksander (Autor)

Buch | Softcover

276 Seiten

2014 | Softcover reprint of the original 1st ed. 1985
Springer-Verlag New York Inc.
978-1-4684-6863-2 (ISBN)

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I. ALEKSANDER Kobler Unit for Information Technology Management, Imperial College of Science and Technology, London, England It is now over half a decade since Joseph Engelberger wrote: 'Given a six-articulation arm of any configuration, software can be powerful enough to think only in tool coordinates. That is, a programmer concerns himself only with the tool on the end of the robot arm. He can think of the tool's frame of reference and com puter subroutines automatically make the various articulations move so as to accomplish the desired tool manipulation. ' As is often the case with statements of this kind, they are appealing and generally well-founded in technological feasibility. But in order to turn the prediction into reality it requires the dedication and in ventiveness of an international community of researchers. The object of this book is to provide a window on to some of the advances made by this community which go towards the fulfilment of Engelberger's predictions. A significant factor in the framework within which this work is being pursued is the phenomenal advance in the availability of inex pensive and highly compact computing power. It becomes increas ingly possible to imagine powerful microprocessors providing local intelligence at key points in a robot arm Uoints, gripper, etc) by being connected through a communications network and controlled by some specially designated supervisory microchip.

1 Introduction.- Robotic Practice 10; Exploiting Mathematics 11; Making Sense of Sensors 12; Computing for Design 13; Future Directions 14.- I: Sensor Information Processing.- 2 A method for grasping randomly oriented objects using touch sensing.- 3 Method of contour recognition.- 4 The design of sensors for a mobile teleoperator robot.- II: Mathematical Concerns.- 5 Constrained average path tracking for industrial robots.- 6 The application of spline functions to trajectory generation for computer-controlled manipulators.- 7 Kinematic equations of robot manipulators.- 8 Solution of kinematic equations for robot manipulators.- III: Practical Concerns.- 9 A strategy to achieve an assembly by means of an inaccurate, flexible robot.- 10 Trajectory planning for a multi-arm robot in an assembly task.- 11 Cooperation of two manipulators in assembly tasks.- IV: Computer Aids to Robot Design.- 12 A CAD system for programming and simulating robots’ actions.- 13 The development of a suite of programs for the analysis of mechanisms.

Zusatzinfo	29 Illustrations, black and white
Verlagsort	New York, NY
Sprache	englisch
Maße	140 x 216 mm
Themenwelt	Schulbuch / Wörterbuch
	Geisteswissenschaften
	Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
	Naturwissenschaften
	Sozialwissenschaften
ISBN-10	1-4684-6863-4 / 1468468634
ISBN-13	978-1-4684-6863-2 / 9781468468632
Zustand	Neuware