15 Result(s)
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Chapter
Introduction
Today’s robotics can be described as a science dealing with intelligent movement of various robot mechanisms which can be classified in the following four groups: robot manipulators, robot vehicles, man-robot ...
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Chapter
Geometric Description of the Robot Mechanism
The geometric description of the robot mechanism is based on the usage of translational and rotational homogenous transformation matrices. A coordinate frame is attached to the robot base and to each segment o...
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Chapter
Trajectory Planning
In previous chapters we studied mathematical models of robot mechanisms. First of all we were interested in robot kinematics and dynamics. Before applying this knowledge to robot control, we must become famili...
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Chapter
Robot Environment
This chapter will illustrate robot environments, exemplified by product assembly processes where robots are a part of a production line or as completely independent units. The example can be easily replicated ...
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Chapter
Accuracy and Repeatability of Industrial Manipulators
In this chapter we shall briefly consider performance criteria and the methods for testing of industrial robot manipulators as described in the ISO 9283 standard. Before addressing accuracy and repeatability o...
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Chapter
Homogenous Transformation Matrices
As stated previously robots have either translational or rotational joints. To describe the degree of displacement in a joint we need a unified mathematical description of translational and rotational displace...
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Orientation
We often describe our environment as a three-dimensional world. The world of the roboticist is, however, six-dimensional. He must not only consider the position of an object, but its orientation. When a robo...
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Chapter
Parallel Robots
This chapter deals with the increasingly popular and high-performing robots that are known as parallel robots. Standard mechanisms of industrial robots possess serial kinematic chains in which links and joints...
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Robot Vision
The task of robot vision is to recognize the geometry of the robot workspace from a digital image. It is our aim to find the relation between the coordinates of a point in the two-dimensional (2D) image and th...
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Chapter
Collaborative Robots
Until now, industrial robots have always been fast and robust devices that work on specific tasks designed for them. To stay in accordance with the aforementioned rule they were performing behind fixed and int...
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Chapter
Humanoid Robotics
modern robotics began to develop, philosophers, engineers, and artists were interested in machines similar to humans. The first known example of a humanoid mechanism, which design has been preserved and c...
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Chapter
Two-Segment Robot Manipulator
Kinematics is part of classic mechanics that study motion without considering the forces which are responsible for this motion. Motion is in general described by trajectories, velocities and accelerations. In ...
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Chapter
Robot Sensors
The human sensory system encompasses sensors of vision and hearing, kinesthetic sensors (movement, force, and touch), sensors of taste and smell. These sensors deliver input signals to the brain which uses thi...
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Chapter
Mobile Robots
A mobile robot is a device that is capable of locomotion. It has the ability to move around its environment using wheels, tracks, legs, or a combination of them. It may also fly, swim, crawl, or roll. Mobile r...
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Chapter
Robot Control
The problem of robot can be explained as a computation of the forces or torques which must be generated by the actuators in order to successfully accomplish the robot’s task. The appropriate working conditio...
