A Textbook of Robotics 2 Structure, Control and Operation [Paperback]

ONE Components of Robotic Systems.- General.- Mechanical Arm.- End Effector.- Robot Motors.- Computer (Controller).- Sensors.- Two The Mechanical Arm.- Mechanical Arm Structure.- Classifying Robots.- Cartesian Robots.- Cylindrical Robots.- Spherical Robots.- Horizontal Articulated Robots.- Vertical Articulated Robots.- Structural Characteristics of Robots.- Mechanical Rigidity.- Effects of Structure on Control.- Effects of Structure on Work Envelope and Work Volume.- Cartesian Robot Work Volume.- Cylindrical Robot Work Volume.- Spherical Robot Work Volume.- Horizontal Articulated Robot Work Volume.- Vertical Articulated Robot Work Volume.- Robot Work Volumes: Comparison.- Work Volume in Theory and Practice.- Advantages and Disadvantages of Various Kinematic Structures: Summary.- Open and Closed Kinematic Structures.- Wrist Joints.- Three Fundamental Concepts of Control.- Control Systems.- Open-Loop Control.- Closed-Loop Control.- Negative and Positive Feedback.- Control System Errors and Stability.- Transient and Steady State Response.- Stabilization and Servo Systems.- Loading Error.- Controller Types.- Proportional Control.- Integral Control.- Proportional-Integral Control.- Differential Control.- Proportional-Differential Control.- Proportional-Integral-Differential Control.- Four Electrical Drive Components.- DC Servo Motors.- DC Motor Structure.- The Motor as a Generator.- Opposite EMF in DC Motors.- Classifying DC Motors by Excitation Type.- Linear Regulation of Rate of Revolution in DC Servo Motors.- Pulse Width Modulation Control.- Stepping Motors.- Stepping Motor Controllers.- Stepping Motor Structure.- Stepping Motors: Summary.- Considerations in the Use of Stepping Versus DC Servo Motors.- Advantage of DC Motors.- Disadvantage of DC Servo Motors.- Advantage of Stepping Motors.- Disadvantage of Stepping Motors.- Five Hydraulic Drive Systems.- Properties of Hydraulic Fluids.- Analogies between Hydraulic and Electrical Parameters.- Principle of the Hydrauliclc&