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Computing Techniques for Robots

  • Book
  • © 1985

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Editors:
  1. Igor Aleksander
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Table of contents (13 chapters)

  1. Front Matter

    Pages 1-7
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  2. Introduction

    1. Introduction

      • I. Aleksander
      Pages 9-14

  3. Sensor Information Processing

    1. Front Matter

      Pages 15-15
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    2. A method for grasping randomly oriented objects using touch sensing

      • D. J. Todd
      Pages 17-34

    3. Method of contour recognition

      • Z. M. Wójcik
      Pages 35-56

    4. The design of sensors for a mobile teleoperator robot

      • C. M. Witkowski, A. H. Bond, M. Burton
      Pages 57-84

  4. Mathematical Concerns

    1. Front Matter

      Pages 85-85
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    2. Constrained average path tracking for industrial robots

      • J. Y. S. Luh
      Pages 87-100

    3. The application of spline functions to trajectory generation for computer-controlled manipulators

      • C. C. Cook, C. Y. Ho
      Pages 101-110

    4. Kinematic equations of robot manipulators

      • Jadran Lenarcic
      Pages 111-130

    5. Solution of kinematic equations for robot manipulators

      • C. Y. Ho, K. W. Copeland
      Pages 131-148

  5. Practical Concerns

    1. Front Matter

      Pages 149-149
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    2. A strategy to achieve an assembly by means of an inaccurate, flexible robot

      • B. Shariat, P. Coiffet, A. Fournier
      Pages 151-177

    3. Trajectory planning for a multi-arm robot in an assembly task

      • R. Zapata, P. Coiffet, A. Fournier
      Pages 178-196

    4. Cooperation of two manipulators in assembly tasks

      • P. Dauchez, P. Coiffet, A. Fournier
      Pages 197-218

  6. Computer Aids to Robot Design

    1. Front Matter

      Pages 219-219
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    2. A CAD system for programming and simulating robots’ actions

      • E. Dombre, P. Borrel, A. Liegeois
      Pages 221-247

    3. The development of a suite of programs for the analysis of mechanisms

      • A. J. Medland
      Pages 248-276
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Keywords

About this book

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.

Bibliographic Information

  • Book Title: Computing Techniques for Robots

  • Editors: Igor Aleksander

  • DOI: https://doi.org/10.1007/978-1-4684-6861-8

  • Publisher: Springer New York, NY

  • eBook Packages: Springer Book Archive

  • Copyright Information: Springer Science+Business Media New York 1985

  • Softcover ISBN: 978-1-4684-6863-2Published: 18 January 2014

  • eBook ISBN: 978-1-4684-6861-8Published: 06 December 2012

  • Edition Number: 1

  • Number of Pages: 276

  • Number of Illustrations: 29 b/w illustrations

  • Topics: Science, Humanities and Social Sciences, multidisciplinary

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