Basic Robotics

1. HISTORY OF ROBOTICS. Timeline of Events. Key Events in the History of Robotics. What is a Robot? Why Use a Robot? Top Down vs. Bottom Up. AI and the Future of Robots. 2. SAFETY. Robots Require Respect. Danger Zones. Guarding. Safety Devices. Electricity and You! Handling Emergencies. 3. COMPONENTS OF THE ROBOT. Power Supply. Controller/Logic Function. Teach Pendant/Interface. Manipulator, Degrees of Freedom (DOF), and Axis Numbering. Base Types. 4. CLASSIFICATION OF ROBOTS. How Do We Classify Robots? Power Source. Geometry of Work Envelope. Drive Systems: Classification and Operation. International Standards Organization (ISO) Classification. 5. END-OF-ARM TOOLING. What is End-of-Arm Tooling (EOAT)? Types of Tooling Available. Grippers. Gripper Force. Payload. Other Grippers. Other Types of End-of-Arm Tooling. Multiple Tooling. Positioning of Tooling. 6. SENSORS AND VISION. Limit Switches. Proximity. Tactile and Impact. Position. Sound. Vision Systems. 7. PERIPHERAL SYSTEMS. What is a Peripheral System? Safety Systems. Positioners. End-of-Arm Tooling Peripheral Systems. What is a Work Cell? Nonindustrial Peripherals. System Communication. 8. ROBOT OPERATION. Before Powering the Robot Up. Powering the System Up. Moving the Robot Manually. What Do I Want the Robot to Do? How Do I Know What the Robot Will Do? So, I Crashed the Robot'Now What? 9. PROGRAMMING AND FILE MANAGEMENT. Programming Language Evolution. Planning. Subroutines. Writing the Program. Testing and Verifying. Normal Operation. File Maintenance. 10. TROUBLESHOOTING. What is Troubleshooting? Analyzing the Problem. Gathering Information. Additional Resources for Information. Finding a Solution. If at First You Do Not Succeed'. 11. REPAIRING THE ROBOT. Preventive Maintenance. Precautions to Take Before You Begin Repairs. Repair Tips. Parts Swapping vs. Fixing the Problem. Precautions Before Running the Robot. What to Do if the Robot is Still Broke. The Robot is Running, Now What? 12. JUSTIFYING THE USE OF A ROBOT. Robot vs. Human Labor. Return on Investment (ROI). Precision and Quality. Use of Consumables. Hazardous Environments. Nonindustrial Justifications. Glossary. Bibliography. Index.