Overview

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.

Full Product Details

Author:   Igor Aleksander
Publisher:   Springer-Verlag New York Inc.
Imprint:   Springer-Verlag New York Inc.
Edition:   Softcover reprint of the original 1st ed. 1985
Dimensions:   Width: 14.00cm , Height: 1.50cm , Length: 21.60cm
Weight:   0.359kg
ISBN:  

9781468468632

ISBN 10:   1468468634
Pages:   276
Publication Date:   18 January 2014
Audience:   College/higher education ,  Postgraduate, Research & Scholarly
Format:   Paperback
Publisher's Status:   Active
Availability:   Manufactured on demand  
We will order this item for you from a manufactured on demand supplier.

Table of Contents

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

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