Robots as Mechanisms. Conventions. M atrix Representation. Representation of a Point in Space. Representation of a Vector in Space. Representation of a Frame at the Origin of a Fixed Reference Frame. Representation of a Frame Relative to a Fixed Reference Frame.
Representation of a Rigid Body. Homogeneous Transformation Matrices. Representation of Transformations. Representation of a Pure Translation. Representation of a Pure Rotation about an Axis.
Representation of Combined Transformations. Transformations Relative to the Rotating Frame.
Inverse of Transformation Matrices. Forward and Inverse Kinematics of Robots. Forward and Inverse Kinematic Equations: Position. Cartesian (Gantry, Rectangular) Coordinates. Cylindrical Coordinates.
IntroductionToRobotics-Lecture01 Instructor (Oussama Khatib):Okay. Let’s get started. Welcome to intro to robotics 2008. Happy new year, everyone. In introduction to robotics, we are going to really cover the foundations of robotics. That is, we are going to look at mathematical models that represent robotic systems in many different ways. The lecture notes for this class are in the form of chapters from a possible future edition of Professor Asada's robotics textbook. Chapter 1: Introduction. Chapter 2: Actuators and Drive Systems. Chapter 3: Robot Mechanisms. Chapter 4: Planar Kinematics. Chapter 5: Differential Motion. Chapter 6: Statics. Introduction To Robotics.
Spherical Coordinates. Articulated Coordinates. Forward and Inverse Kinematic Equations: Orientation. Roll, Pitch Yam (RPY) Angles. Euler Angles. Articulated Joints. Forward and Inverse Kinematic Equations: Position and Orientation.
Denavit-Hartenberg Representation of Forward Kinematic Equations of Robots. The Inverse Kinematic Solution of Robots. Differential Relationships. Differential versus Large-Scale Motions.
Differential Motions of a Frame versus a Robot. Differential Motions of a Frame. Differential Translations. Differential Rotations about the Reference Axes. Differential Rotation about a General Axis q. Differential Transformations of a Frame. Interpretation of the Differential Change.
Differential Changes between Frames. Differential Motions of a Robot and Its Hand Frame. Calc ulation of the Jacobian.
How to Relate the Jacobian and the Differential Operator. Inverse Jacobian.
Automation, Production Systems and Computer-integrated Manufacturing by Mikell P. Groover SummaryNEW ORGANIZATION. The second edition consists of five parts, following two introductory chapters:. I. Automation and control technologies: industrial computer control, control system components, numerical control, industrial robotics, programmable logic controllers.
Material handling technologies: conveyor systems, automated guided vehicle systems, automated storage systems, automatic identification and data capture. Manufacturing systems: single station cells, group technology, flexible manufacturing systems, assembly lines, transfer lines. Quality control systems: statistical process control, inspection principles and technologies.
Manufacturing support systems: CAD/CAM, process planning, production planning, production planning and control, lean production and agile manufacturing. TEXT FEATURES.Expanded coverage of automation fundamentals, numerical control programming, group technology, flexible manufacturing systems, material handling and storage, quality control and inspection, inspection technologies, programmable logic controllers.New chapters or sections on manufacturing systems, single station manufacturing systems, mixed-model assembly line ana. Fundamentals of Modern Manufacturing by Mikell P.
Groover SummaryMost introductory books on manufacturing processes focus almost exclusively on metals. Although metals are certainly important, ceramics, polymers, composites, and silicon are increasingly important as engineering and manufacturing materials today.The second edition of Fundamentals of Modern Manufacturing provides a comprehensively treatment of these other materials and their processing, without sacrificing its solid coverage of metals and metal processing. In addition, new chapters have been included on Rapid Prototyping and Microfabrication. Automation, Production Systems, and Computer-integrated Manufacturing by Mikell P. Groover SummaryFor advanced undergraduate/ graduate-level courses in Automation, Production Systems, and Computer-Integrated Manufacturing. This exploration of the technical and engineering aspects of automated production systems provides the most advanced, comprehensive, and balanced coverage of the subject of any text on the market.
It covers all the major cutting-edge technologies of production automation and material handling, and how these technologies are used to construct modern manufacturing systems. IT-Based Management: Challenges and Solutions by Joia, Luiz Antonio SummaryThe main scope of this book is to show how IT has created a mandate to management to develop new business models and frameworks based on the important role of IT. The chapters within IT-Based Management: Challenges and Solutions tackle the role and impact of IT on strategy and resulting new models to be used in this context.
Oussama Khatib Stanford
In addition, the book proposes new models based on the pervasive role IT exercises in the current business arena. Springer Handbook of Robotics by Bruno Siciliano,Oussama Khatib SummaryWith the science of robotics undergoing a major transformation just now, Springer’s new, authoritative handbook on the subject couldn’t have come at a better time. Having broken free from its origins in industry, robotics has been rapidly expanding into the challenging terrain of unstructured environments. Unlike other handbooks that focus on industrial applications, the Springer Handbook of Robotics incorporates these new developments. Just like all Springer Handbooks, it is utterly comprehensive, edited by internationally renowned experts, and replete with contributions from leading researchers from around the world.
The handbook is an ideal resource for robotics experts but also for people new to this expanding field. Handbook of Design, Manufacturing and Automation by Richard C. Dorf,Andrew Kusiak SummaryComprehensive, detailed, and organized for speedy reference-everything you need to know about modern manufacturing technology.
From concurrent engineering to fixture design for machining systems, from robotics and artificial intelligence to facility layout planning and automated CAD-based inspection, this handbook provides all the information you need to design, plan, and implement a modern, efficient manufacturing system tailored to your company's special needs and requirements. Handbook of Design, Manufacturing and Automation does more than simply present the characteristics and specifications of each technology-much more. Each technology is discussed both in terms of its own capabilities and in terms of its compatibility with other technologies, and the trade-offs involved in choosing one option over another are explored at length. An entire section is devoted to the business aspects of converting to the new technologies, including acquisition of automation, managing advanced manufacturing technology, and issues of cost and financing.
The focus is on incorporating these technologies into a cohesive whole-an efficient, cost-effective manufacturing system. Other important topics include:.
Design for automated manufacturing. Nontraditional manufacturing processes. Machine tool programming techniques and trends. Precision engineering and micromanufacturing. Computer-integrated product planning and control.
Image processing for manufacturing. And much more. Work Systems and the Methods, Measurement, and Management of Work by Mikell P. Groover SummaryDivided into two major areas of discussion – work systems, and work methods, measurement, and management – this guide provides up-to-date, quantitative coverage of work systems and how work is analyzed and designed. Includes 30 chapters organized into six parts: Work Systems and How They Work; Methods Engineering and Layout Planning; Time Study and Work Measurement; New Approaches in Process Improvement and Work Management; Ergonomics and Human Factors in the Workplace, and Traditional Topics in Work Management. Addresses the “systems” by which work is accomplished, such as worker-machine systems, manufacturing cells, assembly lines, projects, and office work pools.
Summarizes many aspects of work systems, operations analysis, and work measurement using mathematical equations and quantitative examples. For professionals in the area of industrial engineering. Autonomous Guided Vehicles by Hamed Fazlollahtabar,Mohammad Saidi-Mehrabad SummaryThis book provides readers with extensive information on path planning optimization for both single and multiple Autonomous Guided Vehicles (AGVs), and discusses practical issues involved in advanced industrial applications of AGVs. After discussing previously published research in the field and highlighting the current gaps, it introduces new models developed by the authors with the goal of reducing costs and increasing productivity and effectiveness in the manufacturing industry.
The new models address the increasing complexity of manufacturing networks, due for example to the adoption of flexible manufacturing systems that involve automated material handling systems, robots, numerically controlled machine tools, and automated inspection stations, while also considering the uncertainty and stochastic nature of automated equipment such as AGVs. The book discusses and provides solutions to important issues concerning the use of AGVs in the manufacturing industry, including material flow optimization with AGVs, programming manufacturing systems equipped with AGVs, reliability models, the reliability of AGVs, routing under uncertainty, and risks involved in AGV-based transportation. The clear style and straightforward descriptions of problems and their solutions make the book an excellent resource for graduate students.
Moreover, thanks to its practice-oriented approach, the novelty of the findings and the contemporary topic it reports on, the book offers new stimulus for researchers and practitioners in the broad field of production engineering. Production Planning in Automated Manufacturing by Yves Crama,Alwin G.
Oerlemans,Frits C.R. Spieksma SummaryIn this book quantitative approaches are proposed for production planning problems in automated manufacturing. In particular, techniques from operations research provide ways to tackle these problems. Special attention is given to the efficient use of tools in automated manufacturing systems. The book presents models and tests solution strategies for different kinds of production decision problems. A case study in the manufacturing of printed circuit boards highlights the methodology. The book will help to understand the nature of production planning problems in automated manufacturing and show how techniques from operations research may contribute to their solution.
Assembly Line Planning and Control by Nick T. Thomopoulos SummaryAssembly Line Planning and Control describes the basic fundamentals of assembly lines for single model lines, mixed model make-to-stock lines, mixed model make-to-order lines and for one-station assembly. Programmable Logic Controllers with ControlLogix by Jon Stenerson SummaryPROGRAMMING CONTROLLOGIX PROGRAMMABLE AUTOMATION CONTROLLERS covers ControlLogix Programmable Logic Controllers (PLCs) and their programming and integration. The book’s strength is its breadth and depth of coverage, taking the reader from an overview of the PLC through ladder logic, structured text, sequential function chart, and function block programming. PROGRAMMABLE LOGIC CONTROLLERS WITH CONTROLLOGIX also covers industrial sensors, PLC modules and wiring, as well as motion control using ControlLogix through two-axis coordinated motion (linear and circular) is also covered. To aid in learning, the book features a DVD with Camtasia learning videos and explanations of setup of RSLinx, project development, tag creation, configuration, instructions and much more.
Appendixes cover configuring remote I/O, producer/consumer communication, messaging, and motion configuration and programming. Students learn more and more easily because of the breadth of practical coverage, numerous examples and extensive exercises. Important Notice: Media content referenced within the product description or the product text may not be available in the ebook version. Work Systems: Pearson New International Edition by Mikell P. Groover SummaryFor sophomore or junior-level courses in industrial engineering. Divided into two major areas of study – work systems, and work methods, measurement, and management – this guidebook provides up-to-date, quantitative coverage of work systems and how work is analyzed and designed.
Thorough, broad-based coverage addresses nearly all of the traditional topics of industrial engineering that relate to work systems and work science. The author’s quantitative approach summarizes many aspects of work systems, operations analysis, and work measurement using mathematical equations and quantitative examples.