Details

Autor(en) / Beteiligte

• Aleksander, Igor[Herausgeber]

Titel

Computing Techniques for Robots

Ort / Verlag

Boston, MA : Springer US

Erscheinungsjahr

1985

Link zum Volltext

• Volltext

Beschreibungen/Notizen

• 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 de
• 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℗Ư 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℗Ư 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℗Ư pensive and highly compact computing power. It becomes increas℗Ư 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