A Textbook of Robotics 2

Structure, Control and Operation

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.