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Industrial Robots Programming: Building Applications for the Factories of the Future 2007 [Kõva köide]

  • Formaat: Hardback, 282 pages, kõrgus x laius: 235x155 mm, kaal: 1320 g, 125 Illustrations, black and white, 1 Hardback
  • Ilmumisaeg: 10-Nov-2006
  • Kirjastus: Springer-Verlag New York Inc.
  • ISBN-10: 0387233253
  • ISBN-13: 9780387233253
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Industrial Robots Programming: Building Applications for the Factories of the Future 2007Suurem pilt
  • Formaat: Hardback, 282 pages, kõrgus x laius: 235x155 mm, kaal: 1320 g, 125 Illustrations, black and white, 1 Hardback
  • Ilmumisaeg: 10-Nov-2006
  • Kirjastus: Springer-Verlag New York Inc.
  • ISBN-10: 0387233253
  • ISBN-13: 9780387233253
Teised raamatud teemal:
Püsilink: https://www.kriso.ee/db/9780387233253.html
Märksõnad:
Industrial Robots Programming focuses on designing and building robotic manufacturing cells, and explores the capabilities of today's industrial equipment as well as the latest computer and software technologies. Special attention is given to the input devices and systems that create efficient human-machine interfaces, and how they help non-technical personnel perform necessary programming, control, and supervision tasks.Drawing upon years of practical experience and using numerous examples and illustrative applications, J. Norberto Pires covers robotics programming as it applies to:The current industrial robotic equipment including manipulators, control systems, and programming environments.Software interfaces that can be used to develop distributed industrial manufacturing cells and techniques which can be used to build interfaces between robots and computers.Real-world applications with examples designed and implemented recently in the lab.This book is supported by a website http://robotics.dem.uc.pt/indrobprog that includes software code for the examples presented, various software applications developed by the author and videos of all examples presented and discussed.

The main objective of this book is to build a source of detailed information about all aspects related to building industrial manufacturing systems. These systems use industrial robots, as a general tool, since robots are flexible equipment by nature, but also other types of automatic equipment: PLC's, AGV's, electro-pneumatic and hydraulic equipment, industrial PC's, several types of software packages, etc. Gathering all these parts when building an industrial manufacturing cell is a challenging task, tricky to handles, and requires very specific knowledge. This book uses the robot-programming case to introduce this world, focusing the reader's attention on building applications using industrial robots and interfacing them with other industrial automation equipment. In the process, the majority of the related aspects (industrial automation, integration, sensor fusion, supervision and monitoring software, etc) are pulled into a unified overview.
1. Introduction to the Industrial Robotics World 1(34)
1.1 Introduction
1(1)
1.2 A Brief History of the Industrial Robot
2(7)
1.3 Using Robotics to Learn
9(14)
1.3.1 Constitution of the Robot Nicola
12(1)
1.3.2 Nicola Software
13(10)
1.3.2.1 PLC Software
13(5)
1.3.2.2 Software for the On-board PC
18(2)
1.3.2.3 Feedback from the On-board Webcam
20(3)
1.4 Using Robotics to Work
23(6)
1.4.1 Using an Offline Simulation Environment
27(2)
1.5 Statistics of Robotic Workers
29(3)
1.6 Overview of the rest of the book
32(1)
1.7 References
33(2)
2. Robot Manipulators and Control Systems 35(74)
2.1 Introduction
35(1)
2.2 Kinematics
36(11)
2.2.1 Direct Kinematics
39(4)
2.2.2 Inverse Kinematics
43(4)
2.3 Jacobian
47(11)
2.4 Singularities
58(8)
2.4.1 Brief Overview: Singularity Approach
61(5)
2.5 Position Sensing
66(3)
2.6 Actuators: Motors
69(6)
2.6.1 Motor Drive System
72(3)
2.7 Dynamics
75(9)
2.7.1 Inertia Tensor and Mass Distribution
76(2)
2.7.1.1 Important Results
77(1)
2.7.2 Lagrange-Euler Formulation
78(1)
2.7.3 D'Alembert Formulation
79(1)
2.7.4 Newton-Euler Formulation
79(3)
2.7.5 Dynamic Parameters
82(2)
2.8 Matlab Examples
84(2)
2.9 Robot Control Systems
86(4)
2.9.1 Drive the motors to move the TCP and coordinate the motion for useful work
87(3)
2.10 Servo Control
90(1)
2.11 IO Control
91(1)
2.12 Communication
92(2)
2.13 Sensor Interface
94(9)
2.13.1 Interfacing Laser 3D Sensor for Seam Tracking
94(2)
2.13.2 Interfacing a Force/Torque Sensor
96(15)
2.13.2.1 Using a Force/Torque Sensor
100(3)
2.14 Programming and Program Execution
103(1)
2.15 User Interface
104(1)
2.16 References
105(4)
3. Software Interfaces 109(64)
3.1 Introduction
109(2)
3.2 Low Level Interfaces
111(14)
3.2.1 IO Digital Signals
111(11)
3.2.1.1 Robot Controller Software
116(2)
3.2.1.2 PLC Software
118(2)
3.2.1.3 PC Software
120(2)
3.2.2 Using Fieldbuses
122(3)
3.2.2.1 Profibus (Process FieldBus)
122(1)
3.2.2.2 CAN (Controller Area Network)
122(1)
3.2.2.3 DeviceNet
123(2)
3.3 Data Protocols and Connections
125(14)
3.3.1 RPC – Remote Procedure Calls
131(4)
3.3.2 TCP/IP Sockets
135(3)
3.3.2.1 TCP Ports
138(1)
3.3.3 UDP Datagrams
138(1)
3.3.3.1 UDP Ports
139(1)
3.4 Simple Example: Interfacing a CCD Camera
139(17)
3.4.1 Robot Controller Software
141(2)
3.4.2 Webcam Software
143(4)
3.4.3 Remote Client
147(6)
3.4.4 Using UDP Datagrams
153(3)
3.5 Simple Example: Control Panel
156(2)
3.6 Simple Example: S4Misc – Data Access on a Remote Controller
158(4)
3.7 Industrial Example: Semi-autonomous Labeling System
162(9)
3.7.1 Robotic Labeling System
163(1)
3.7.2 System Software
164(2)
3.7.3 Robot Controller Software
166(1)
3.7.4 TCP/IP Server
167(2)
3.7.5 Discussion
169(1)
3.7.6 Conclusion
170(1)
3.8 References
171(2)
4. Interface Devices and Systems 173(52)
4.1 Introduction
173(5)
4.2 Speech Interfaces
178(20)
4.2.1 Introduction
178(2)
4.2.2 Evolution
180(3)
4.2.3 Technology
183(1)
4.2.4 Automatic Speech Recognition System and Strategy
184(2)
4.2.5 Pick-and-Place and Robotic Welding Examples
186(1)
4.2.6 Pick-and-Place Example
187(4)
4.2.7 Robotic Welding Example
191(4)
4.2.8 Adjusting Process Variables
195(2)
4.2.9 Conclusion
197(1)
4.3 VoiceRobCam: Speech Interface for Robotics
198(17)
4.3.1 Robot Manipulator and Robot Controller
199(1)
4.3.2 PLC Siemens S7-200 and Server
200(3)
4.3.3 Webcam and Image Processing Software
203(2)
4.3.4 User Client Application
205(5)
4.3.5 Speech Interface
210(5)
4.4 CAD Interfaces
215(8)
4.4.1 Speech Interface for Welding
221(2)
4.5 References
223(2)
5. Industrial Manufacturing Systems 225(42)
5.1 Introduction
225(1)
5.2 Helping Wrapping Machines for the Paper Industry
226(15)
5.2.1 Layout of the System
227(6)
5.2.1.1 Station One – Dimensions and Weight
228(1)
5.2.1.2 Station Two – Roll Wrapping and Inner Header
228(1)
5.2.1.3 Station Three – External Header
229(1)
5.2.1.4 Station Four – Labeling
230(3)
5.2.2 EmailWare
233(8)
5.2.2.1 EmailWare Application Example
237(4)
5.2.3 Conclusions and Discussion
241(1)
5.3 Complete Robotic Inspection Line for the Ceramic Industry
241(10)
5.3.1 Motivation and Goals
242(4)
5.3.2 Approach and Results
246(4)
5.3.2.1 Basic Functioning of the De-palletizing System
248(1)
5.3.2.2 Basic Functioning of the Palletizing System
248(2)
5.3.3 Operational Results and Discussion
250(1)
5.4 Handling Production Changes Online
251(14)
5.4.1 Robotic Palletizing System
252(4)
5.4.1.1 Identify Empty Pallets and Measure Parameters of an Empty Pallet
253(1)
5.4.1.2 Pick a Glass from the Production Line
254(1)
5.4.1.3 Palletize the Glass
254(2)
5.4.2 System Software
256(4)
5.4.3 On-line monitoring
260(3)
5.4.4 Discussion and Results
263(2)
5.4.5 Conclusion
265(1)
5.5 References
265(2)
6. Final Notes 267(14)
6.1 Introduction
267(1)
6.2 Operation "Albert"
268(12)
6.2.1 And "Albert" Speaks
275(5)
6.3 References
280(1)
Index 281