M. ShohamA Textbook of Robotics 2
Structure, Control and Operation
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ONE Components of Robotic Systems.- General.- Mechanical Arm.- End Effector.- Robot Motors.- Computer (Controller).- Sensors.- Two The Mechanical Arm.- Mechanical Arm Structure.- Classifying Robots.- Structural Characteristics of Robots.- Three Fundamental Concepts of Control.- Control Systems.- Open-Loop Control.- Closed-Loop Control.- Negative and Positive Feedback.- Control System Errors and Stability.- Controller Types.- Four Electrical Drive Components.- DC Servo Motors.- Stepping Motors.- Considerations in the Use of Stepping Versus DC Servo Motors.- Five Hydraulic Drive Systems.- Properties of Hydraulic Fluids.- Cylinders.- Power Sources.- Valves.- Electrohydraulic Servo Valves.- Six Feedback Devices.- Potentiometers.- Optical Encoders.- DC Tachometers (Tachogenerators).- Seven Drive and Control Systems: An Appraisal.- Automatic Drilling Process: Computerized Control System for One Axis.- Automatic Command for Filling Containers with a Constant Powder Volume.- Computer-Controlled System for Hydraulic Cylinder Position and Velocity Control.- Hydraulic Cartesian Robot with Three Degrees of Freedom.- Eight Robot Path Control.- What is Path Control?.- Point-to-Point Control.- Continuous Path Control.- Nine A Case Study.- Defining the Task.- Can this Robot Perform this Task?.- Operation of the Robot Components during Execution of the Assigned Task.
