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Microprocessors in Robotic and Manufacturing Systems : Intelligent Systems, Control and Automation: Science and Engineering - Spyros G. Tzafestas

Microprocessors in Robotic and Manufacturing Systems

Intelligent Systems, Control and Automation: Science and Engineering

By: Spyros G. Tzafestas (Editor)


Published: 31st October 1991
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Robotic and manufacturing systems have gained increasing attention at both the academic and industrial levels. A key component in their development is the microprocessor, which offers increased functional capabilities at reduced costs. Microprocessors in Robotic and Manufacturing Systems provides a balanced, state-of-the-art presentation of the involvement of microprocessors in the design and operation of modern robotic and manufacturing systems. Prepared by a distinguished team of experts, the book covers a wide repertory of topics, including the latest developments in the field together with fresh, original results derived by the contributors. The book provides a unique, cohesive reference source providing access to the most current advances in the microprocessor-based robotics and manufacturing field. A subset of the topics covered is the following: Computation of Robot Dynamics by Multiprocessor Schemes; Numerical Applications of Digital Signal Processors in Robotic Computations; Automatic Scheduling of the Newton-Euler Inverse Dynamics; Microprocessor-Based Controllers for Robotic Manipulators; Design Aspects of a Robot Coordinated by a Desktop Computer; Collision Strategies for Robotic Retreat and Resistance: Microprocessor Based Implementations; Microprocessor Based Intelligent Welding Systems; Microprocessors in Robotic/Machine Vison Computer-controlled Integrated Manufacturing Systems; Microcomputer Expert System Tools for Robotic and Manufacturing Operations. The reader can save considerable time in searching the scattered technical information on the application of microprocessors to industrial robots and flexible manufacturing systems. The professional can have readily available a rich set of important analysis, design and operational results.

I Robotic Computations.- 1 Computation of Robot Dynamics by a Multiprocessor Scheme.- 1. Introduction.- 2. Tree-Height Reduction by Newton-Euler State Space Equations.- 3. The Multiprocessor System and the Task Allocation.- 4. Performance Evaluation.- 5. Parallel Processing for a Two Link Robot System.- 6. Conclusion.- References.- 2 Automatic Scheduling of the Newton-Euler Inverse Dynamics.- 1. Introduction.- 2. Task Granularity and Communication Overhead.- 3. The Newton-Euler Inverse Dynamics.- 4. Automatic Data-Flow Analysis: the LEM Analyzer.- 5. Parallel Execution.- 6. Conclusion.- References.- 3 Numerical Applications of DSPs in Robotic Computations.- 1. Introduction.- 2. A Survey of the Main Characteristics of DSPs.- 3. Numerical Applications in Robotic Computations.- 4. Conclusions.- References.- 4 Parallel Processing of Robot Control and Simulation.- 1. Introduction.- 2. Parallel Processing of Robot-Arm Control Computation.- 3. Parallel Processing of Robot Dynamics Simulation.- 4. Summary and Future Directions.- References.- 2 Robotic Control and Vision.- 5 Microprocessor-Based Controllers for Robotic Manipulators.- 1. Introduction.- 2. Survey of Microprocessor-Based Controllers.- 3. Techniques to Improve Microprocessor-Based Controller Implementation.- 4. Conclusions.- Acknowledgements.- References.- 6 Design Aspects of a Robot Coordinated by a Desktop Computer.- 1. Introduction.- 2. The Supervisory System.- 3. Kinematics and Their Inverse.- 4. Polynomial Fitting.- 5. Implementing the Difference Equations.- 6. Axis Command and Coordination.- 7. Implementing the Position Control Loop.- 8. Priority of Operations in the Axis Controller.- 9. Conclusions.- Acknowledgements.- References.- 7 A PC Simulation Program for Comparing Performances of Robot Control Algorithms.- 1. Introduction.- 2. Trajectory Generation.- 3. Robot Control.- 4. Robot Dynamics.- 5. Some Control Algorithms.- 6. Conclusions.- References.- 8 Collision Strategies for Robot Retreat and Resistance.- 1. Introduction.- 2. Pre-Collision Visual Sensing.- 3. Post-Collision Tactile Sensing.- 4. Control Requirements.- 5. Four Link Biped.- 6. Discussion and Conclusions.- References.- 9 A Distributed Control Network for Sensory Robotics.- 1. Introduction.- 2. Distributed system architecture.- 3. Modelling the environment.- 4. Vision system.- 5. Manipulator gripper and associated sensors.- 6. Sensor data integration.- 7. Software considerations.- 8. Conclusions.- References.- 10 Neural Networks and Robot Vision.- 1. Neural networks : what's in a name?.- 2. Neural networks operation.- 3. The linear pattern associator.- 4. The nonlinear multilayered pattern associator.- 5. The auto associator.- 6. Constraint satisfaction network.- 7. Competitive learning model.- 8. Neural networks as parallel distributed processing systems ..- 9. Conclusion.- References.- 3 Manufacturing Systems.- 11 Microprocessors in Data Acquisition Systems for Process Control.- 1. Microprocessor based data acquisition systems.- 2. Process control.- 3. Integration/automation with microprocessor based systems.- References.- 12 Design and Analysis of a Modular CNC System.- 1. Introduction.- 2. Physical components of the CNC milling machine.- 3. Transfer functions of the feed drive control system.- 4. State space modelling of the feed drive control system.- 5. Experimental verification of the feed drive servo model.- 6. Time domain simulation of contouring errors.- 7. Conclusion.- References.- 13 Computer / Programmable Control of a Flexible Manufacturing Cell.- 1. Introduction.- 2. Cell functional requirements.- 3. Structural requirements.- 4. Study and realization.- 5. Conclusion.- Acknowledgements.- References.- 14 Robot and PLC Support System Based on Fiber Optic Map Network.- 1. Introduction.- 2. Local area network selection criteria.- 3. Network design.- 4. Support application softwares.- 5. Conclusions and recommendations.- 15 Experimental Results of Parameter Identification And Nonlinear Control on a PM Stepper Motor.- 1. Introduction.- 2. Feedback linearization controller.- 3. Model validation and parameter identification.- 4. Experimental set up and results.- 5. Future research.- Acknowledgements.- References.- 16 Digital Signal Processor Implementation of a Kalman Filter for Disk Drive Head Positioning Mechanism.- 1. Introduction.- 2. The head-positioning actuator.- 3. Kalman filter design.- 4. Kalman filter implementation.- 5. Conclusion.- Acknowledgements.- References.- 17 Simulation Analysis of Flexible Manufacturing Systems Using Rensam.- 1. Introduction.- 2. RENSAM System Description.- 3. Case Study: Company C.- 4. RENSAM Results.- 5. Summary.- References.- Author Index.

ISBN: 9780792307808
ISBN-10: 0792307801
Series: Intelligent Systems, Control and Automation: Science and Engineering
Audience: Professional
Format: Hardcover
Language: English
Number Of Pages: 411
Published: 31st October 1991
Publisher: Springer
Country of Publication: NL
Dimensions (cm): 23.5 x 15.5  x 2.3
Weight (kg): 1.72