Robotics Introduction, Programming, and Projects

by Fuller, James L.

• ISBN13: 9780130955432
• ISBN10: 0130955434
• Edition: 2nd
• Format: Paperback
• Copyright: 1998-08-27
• Publisher: Pearson

Summary

More descriptive, less mathematical, and easier to read than other books on the subject of robotics.Provides an introduction to roboticsdefinition, history, description, applications, maintenance, human safety, artificial intelligence, rationale, the future. Investigatesthe intelligence of the robotand reviewsrobot sensors. Focuses on software, but devotes considerable attention to the electronics (computer hardware) of the robot.Designed to meet the needs of those with or without extensive technical background.

Table of Contents

Part One An Introduction to Robotics	1	(242)
1 What Is a Robot?	2	(20)
Robots and Robotics	3	(1)
Industrial Robots	3	(1)
The Study of Robots	4	(1)
Industrial Automation and Robots	5	(5)
Choosing Between Humans, Robots, and Automation	10	(1)
Nonindustrial Robots	11	(9)
Summary	20	(1)
Review Questions	20	(2)
2 The History of Robots	22	(12)
The Value of Studying The History of Robots	22	(1)
Key Events in the History of Robots	23	(7)
Fictional Robots	30	(2)
Sources of Additional Information	32	(1)
Summary	33	(1)
Review Questions	33	(1)
3 Components of an Industrial Robot: Part I	34	(30)
General Characteristics of an Industrial Robot	35	(2)
General Components of an Industrial Robot	37	(1)
Manipulator Configurations	38	(10)
Manipulator Power Supplies	48	(13)
Summary	61	(1)
Formulas	62	(1)
Review Questions	62	(2)
4 Components of an Industrial Robot: Part II	64	(14)
Control Units	65	(2)
Operating Methods of Robot Control Units	67	(5)
The Vehicle and the Robot's Base	72	(4)
Summary	76	(1)
Review Questions	77	(1)
5 End-of-Arm Tooling	78	(20)
Grippers and Human Hands	79	(2)
Characteristics of End-of-Arm Tooling	81	(9)
Calculating Gripper Payload and Gripping Force	90	(4)
Summary	94	(1)
Formulas	95	(1)
Review Questions	96	(2)
6 Sensors	98	(50)
The Role of Sensors	99	(1)
Classes of Sensors	99	(11)
Interfacing Natural Signals to Digital Controllers	110	(1)
Sensor Areas for Robots	111	(33)
Electrical Noise and Robot Sensor Information	144	(2)
Summary	146	(1)
Review Questions	146	(2)
7 Applications for Industrial, Business, and Domestic Robots	148	(24)
Using Robots	148	(1)
Industrial Applications of Robotics	149	(13)
Business Uses of Robotics	162	(7)
Domestic Robots	169	(1)
Military Robots	169	(1)
Other Experimental Areas of Robotics	169	(1)
Areas That Could Use Robots	169	(2)
Summary	171	(1)
Review Questions	171	(1)
8 Robot Maintenance	172	(7)
Preventive Maintenance	173	(3)
Emergency Maintenance	176	(1)
Maintenance and Safety	177	(1)
Summary	177	(1)
Review Questions	177	(2)
9 Robotics and Safety	179	(9)
When to Consider Robotic Safety	180	(1)
Levels of Danger	180	(1)
Robot Power Supplies	181	(1)
How Robots Injure People	181	(1)
Safety Aids	182	(2)
Using Robotics to Meet Safety Requirements	184	(1)
The Law and Safety	184	(1)
A Safety Case Study	185	(1)
Safety Features of a Robot Work Cell	186	(1)
Summary	187	(1)
Review Questions	187	(1)
10 Artificial Intelligence	188	(21)
What Is Artificial Intelligence?	189	(9)
Expert Systems	198	(2)
Learning to Understand Human Languages	200	(1)
Interpreting Sensory Inputs	200	(4)
Intelligent Tutoring Systems	204	(1)
Ways That Artificial Intelligence May Help Robots	205	(2)
Summary	207	(1)
Review Questions	208	(1)
11 Classification of Robots	209	(8)
Classification by Arm Configuration	210	(1)
Classification by Controller	210	(1)
Classification by Power Supply	210	(1)
Classification by Level of Technology	210	(1)
Classification by Tasks Done	211	(1)
Classification by Design	211	(1)
The LERT Classification System	212	(2)
Summary	214	(2)
Review Questions	216	(1)
12 Justifying the Use of Robots	217	(16)
Steps in Justifying Robot Use	218	(1)
Assessing the Area's Need for a Robot	218	(1)
Justifying the Cost of Robots	219	(8)
Disadvantages of Robot Labor	227	(1)
How People React to Robots	227	(3)
Summary	230	(1)
Formulas	230	(1)
Review Questions	231	(2)
13 The Future for Robots	233	(10)
Guessing at the Future	233	(2)
Robotics at Present	235	(4)
Short-Term Future of Robots	239	(1)
Long-Term Future of Robots	240	(1)
Summary	241	(1)
Review Questions	242	(1)
Part Two Robotics Programming Problems and Techniques	243	(144)
14 Operating Systems for Robots	244	(23)
Types of Robotics Programs	245	(1)
Programming Needs of Operating Systems	245	(14)
Types of Memory Used in Operating Systems	259	(1)
Languages Used in Operating Systems	259	(7)
Summary	266	(1)
Review Questions	266	(1)
15 Robot Application Programming	267	(28)
What Is a Robot Application Programs	268	(1)
Languages Used	268	(9)
Teaching or Learning Techniques	277	(4)
Steps Involved in Training a Robot	281	(1)
Sample Programming Methods	282	(9)
Using the Teaching Pendant to Edit Rhino Robot Programs	291	(2)
Summary	293	(2)
Review Questions	293	(2)
16 Carrying Out a Robotics Project	295	(24)
Overview of the Robotics Projects Development Life Cycle	296	(1)
Origination Phase	297	(5)
Procedure and Project Development Phase	302	(3)
Implementation Phase	305	(11)
Operation (Maintenance) Phase	316	(1)
Summary	316	(1)
Review Questions	317	(2)
17 Vision Systems	319	(23)
How Human Vision Works	320	(3)
Elements of Human Vision Processing	323	(8)
How Most Machine Vision Systems Work	331	(2)
Advantages of Hardware-Based Edge Detection	333	(2)
Does the Robot's Vision Do What We Think It Is Doing?	335	(1)
The Wizard Vision System	336	(1)
Interfacing a Single-Element Eye	337	(3)
Summary	340	(1)
Review Questions	341	(1)
18 Tactile Systems	342	(7)
Understanding Robotic Tactile Interfacing	342	(1)
Interfacing the Microswitch	343	(2)
Interfacing a Strain Gauge	345	(2)
Three-Dimensional Touch	347	(1)
Summary	348	(1)
Review Questions	348	(1)
19 Proximity Sensors	349	(7)
The Remaining Proximity Detectors	349	(1)
General Interfacing Information	350	(5)
Summary	355	(1)
Review Questions	355	(1)
20 Speech	356	(31)
Speech Synthesis	357	(1)
How Is Speech Synthesis Done?	357	(11)
Speech Understanding	368	(1)
Why Is Speech Understanding Desirable?	369	(1)
Hearing	369	(5)
Noise Command Systems	374	(1)
Speech Recognition Systems	375	(5)
Approaches to Speech Recognition System	380	(1)
A Possible Speech Recognition System	381	(1)
Voice Input Language for Robots	382	(2)
Summary	384	(1)
Review Questions	385	(2)
Part Three Robotics Projects	387	(16)
21 Construction of Simple Robot Projects	388	(15)
Getting Started in Robotics Projects	388	(7)
Robot Projects	395	(8)
22 Appendix A: Mechanics	403	(11)
Power Transmission	403	(9)
Statics	412	(1)
Dynamics	412	(1)
Review Questions	413	(1)
Appendix B: Electricity, Electronics, and Computer Fundamentals	414	(34)
Electricity	414	(10)
Electronics	424	(1)
Computer Fundamentals	425	(21)
Review Questions	446	(2)
Appendix C: Robotics Organizations	448	(2)
Appendix D: Robot Specifications	450	(20)
Appendix E: PC Board Inspection Using a Stand Along Vision System	470	(5)
Glossary	475	(8)
Bibliography	483	(2)
Index	485