Robotics Simplified

Dr. Jisu Elsa Jacob, Manjunath N

doi:9789391030261

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Robotics Simplified

An Illustrative Guide to Learn Fundamentals of Robotics, Including Kinematics, Motion Control, and Trajectory Planning

Author(s): Dr. Jisu Elsa Jacob, Manjunath N

Published by BPB Publications

Publication Date: Sun Oct 01 00:00:00 UTC 2023 Available in all formats

ISBN: 9789391030261

Pages: 448

https://doi.org/9789391030261

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ISBN: 9789391030261 Price: INR 749.00

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Table of contents

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Subject(s): Emerging tech careers, Jobs in emerging technologies, Basic concepts in robotics, Understanding robotics, Designing robots, Automation and control using robotics, Robotics simplified, Design and program robotsProcess automation, Careers in robotics, Robotics and AI jobs, Building automation

‘Robotics Simplified’ is a learner’s handbook that provides a thorough foundation around robotics, including all the basic concepts. The book takes you through a lot of essential topics about robotics, including robotic sensing, actuation, programming, motion control, and kinematic analysis of robotic manipulators. To begin with, the book prepares you with the basic foundational knowledge that assists you in understanding the basic concepts of robotics. It helps you to understand key elements of robotic systems, including various actuators, sensors, and different vision systems. It explains the actual physics that robotic systems work upon such as trajectory planning and motion control of manipulators. It covers the kinematics and dynamics of multi-body systems while you learn to develop a robotic model. Various programming techniques and control systems have practically been demonstrated that guide you to reverse engineer, reprogram and troubleshoot some existing simple robots. You will also get a practical demonstration of how your robots can become smart and intelligent using various image processing techniques illustrated in detail. By the end of this book, you will gain a solid foundation of robotics and get well-versed with the modern techniques that are used for robotic modeling, controlling, and programming.

Cover Page
Title Page
Copyright Page
Dedication Page
About the Authors
About the Reviewer
Acknowledgement
Preface
Errata
Table of Contents
1. Introduction to Robotics
- Introduction
- Structure
- Objective
- History of robots
- Definition of a robot
  - Laws of robotics
- Classification of robots
  - Androids and cyborgs
- Anatomy of a robot
  - End-effector
  - Sensors
  - Actuators
  - Controller
- Robotic wrist
- Characteristics of a robot
- Robot configurations
- Workspace
- Advantages and disadvantages of robots
- Four Ds of robotics
- Areas of application
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
2. End-Effectors
- Introduction
- Structure
- Objectives
  - End-effectors
  - Types of end-effectors
  - Grippers
    - Mechanical grippers
    - Magnetic grippers
    - Vacuum cups
  - Adhesive grippers
  - Tools
    - Tool for arc welding – welding torch
    - Tools for spray painting
    - Tools for spot welding
    - Rotating spindles
    - Deburring tools
  - Design and selection criteria for grippers
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
3. Sensors
- Introduction
- Structure
- Objectives
- Introduction to sensors
- Types of sensors
- Internal sensors
  - Position sensors
    - Potentiometer
    - Encoders
    - LVDT
    - Synchros and resolvers
  - Velocity sensors
    - Tachometer
    - Hall effect sensors
    - Acceleration sensors
  - External sensors
    - Contact sensors
    - Force sensors
    - Touch sensors
  - Non-contact sensors
    - Ultrasonic sensors
    - Proximity sensors
    - Optical sensors
    - Pneumatic sensors
- MEMS-based sensors
  - Introduction to MEMS
  - MEMS-based sensors
- Characteristics of sensors
- Applications of sensors
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
4. Robotic Drive Systems and Actuators
- Introduction
- Structure
- Objectives
- Introduction to actuators
- Classification of actuators
- Electric motors
  - Stepper motor
    - Permanent magnet stepper motor
    - Variable reluctance stepper motor
    - Hybrid stepper motor
    - Microprocessor control of stepper motor
  - DC motors
    - Permanent magnet DC motor
    - Brushless DC motor
    - DC servomotor
  - AC motors
  - Speed control of motors
  - Direction control of motors
- Hydraulic actuators
- Pneumatic actuators
- Linear actuators
  - Solenoids
  - Linear electric motors
  - Other types of actuators
  - Shape memory effect (SME) actuators
  - Shape Deposition Manufacturing (SDM) actuators
  - MEMS-based actuators
- Selection of actuators
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
5. Robotic Vision Systems and Image Processing
- Introduction
- Structure
- Objectives
- Robot vision
- Digital image
- Spatial domain and frequency domain operations
- Analog–digital conversion
  - Sensing
- Pre-processing
  - Spatial domain techniques
- Averaging filters
- Non-linear spatial filters – median filters
- Edge detection or sharpening filters
  - Frequency domain techniques
  - Segmentation
  - Segmentation by region growing
  - Segmentation by region splitting and merging
- Morphology operations
  - Structuring element
  - Erosion
  - Dilation
    - Opening and closing operations
    - Skeletonization
- Object recognition
  - Extracting features of objects
- Depth measurement
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
6. Introduction to Robotic Kinematics
- Introduction
- Structure
- Objectives
- Introduction to Kinematic
  - Types of kinematic links
  - Kinematic pair
    - Types of constrained motion
  - Common types of robotic joints
  - Kinematic chain
  - Closed and open chain mechanisms
- Degrees of freedom
  - Degrees of freedom of a rigid body in space
- Degrees of freedom of a rigid body in a plane
  - Number of degrees of freedom for mechanisms
  - Singularities
- Position and orientation of a rigid body in space
  - Configuration space
  - Coordinate systems
    - Cartesian coordinate system (x, y, z)
  - Cylindrical coordinate system (r, f, z)
    - Spherical coordinate system (r, θ, f)
- Representation of points, vectors, and frames of reference
  - Transformations
    - Translation
  - Rotation of a vector
  - Rotation of a frame relative to a fixed frame
    - Properties of the Special Orthogonal Matrix Group SO(n)
  - Representation of the frame relative to a fixed frame
- Homogeneous matrix representation of frames and transformations
  - Translation matrix
  - Rotation matrix
  - Combination of transformations
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
7. Forward and Inverse Kinematics
- Introduction
- Structure
- Objectives
- Robotic kinematics
- Homogeneous transformation matrix
  - End-effector frame
  - Arm equation
- Kinematics and manipulator control
  - Composite transformations
- Composite rotations
  - Common configurations in composite rotations
  - Composite rotations about X-Y-Z fixed axes
  - Euler angles
  - Composite homogeneous transformations
    - Chasles’ theorem and Rodrigues equation
- Kinematic study of robotic manipulators
  - Direct, inverse, and indirect kinematics
  - Direct kinematics
  - Denavit–Hartenberg (D-H) representation
  - Denavit–Hartenberg model
  - Determination of homogeneous transformation matrix from D-H parameters
  - Drawback of D-H representation
- Inverse kinematic problem
- Solving inverse kinematic problems
- Closed-form solutions
  - Algebraic method for solving an IKP
  - Inverse transformation method
  - Numerical solutions
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
8. Velocity Kinematics and Trajectory Planning
- Introduction
- Structure
- Objectives
  - Differential motions and velocity relationships
- Jacobian
- Robot dynamics
  - Holonomic and non-holonomic constraints
  - Euler–Lagrangian method
- Kinematic synthesis
  - Motion planning
- Motion planning essentials
  - Basics of motion planning
  - Approaches in motion planning
  - Forward planning
    - Inverse planning
    - Formation planning
  - Obstacle avoidance
- Trajectory planning
  - Time scaling of a path
  - Point-to-point trajectories
  - Cubic trajectory
  - Fifth-order polynomials
  - Non-polynomial motion planning
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
9. Control Systems for Robotic Motion Control
- Introduction
- Structure
- Objectives
- Introduction to robotic control systems
- Basic concepts of control systems
- Mathematical modeling
  - Laplace transform
  - Transfer Function
  - Mechanical systems
  - Electrical systems
- Block diagram reduction
  - Time response of control systems
    - First-order systems
    - Second-order systems
  - Characteristic equation
  - System stability
  - Controllers
    - ON–OFF controllers
    - Proportional controllers
    - Integral controllers
    - Proportional-plus-integral controllers (PI)
    - Proportional-plus-derivative controllers (P-D)
    - Proportional-plus-integral-plus-derivative controllers (P-I-D)
  - Non-linear control of robot systems
  - Digital control of robot systems
  - Z-transform
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
10. Robot Programming
- Introduction
- Structure
- Objectives
- Introduction to robot programming
  - Sensing
  - World modeling
  - Motion specification
  - Control flow
- Teach by pendant (powered lead-through programming)
- Manual lead-through programming
- Offline programming
  - Various programming levels
  - Various languages for robot programming
  - Modes of robot programming
- VAL programming
  - Commands for movement
  - Speed control commands
  - End-effector commands
  - Sensor commands
    - REACT command
- Robot programming with Python and C
- Specific issues addressed in robot programming languages
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
11. Applications of Robotics and Autonomous Systems
- Introduction
- Structure
- Objectives
- Introduction to robotics industry
- Industrial applications of robotics
  - Manufacturing applications
    - Welding
    - Resistance spot welding
    - Arc welding
    - Cutting
    - Drilling and fastening
    - Part dipping
    - Inspection
  - Material handling application
    - Palletizing and depalletizing
    - Loading and unloading
  - Industry 4.0
- Applications of robotics in space technology
  - Space robotics
- Specific applications of robotics in space
  - Constraints in designing space robots
    - Environmental constraints
- System constraints or programmatic constraints
- Defense and military applications
  - Applications of robotics and autonomous systems in defense
    - Better and improved situational awareness
    - Reduced soldiers’ workloads; physical and cognitive
  - Sustaining an effectively and efficiently distributed force
    - Facilitate quick movements and effortless maneuver
    - Protection of the forces
  - Obstacles in incorporating RAS in defense and military
- Medical and health service applications
  - Applications of robotics and automation in medical and healthcare fields
    - Medical robots for diagnosis and interventions
    - Medical robots for surgery and treatment
    - Medical robots for rehabilitation and therapy
  - Robotic devices in monitoring and assisting humans
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
Reference
Index

Comments should not be blank

Rating

Description

Table of contents

Cover Page
Title Page
Copyright Page
Dedication Page
About the Authors
About the Reviewer
Acknowledgement
Preface
Errata
Table of Contents
1. Introduction to Robotics
- Introduction
- Structure
- Objective
- History of robots
- Definition of a robot
  - Laws of robotics
- Classification of robots
  - Androids and cyborgs
- Anatomy of a robot
  - End-effector
  - Sensors
  - Actuators
  - Controller
- Robotic wrist
- Characteristics of a robot
- Robot configurations
- Workspace
- Advantages and disadvantages of robots
- Four Ds of robotics
- Areas of application
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
2. End-Effectors
- Introduction
- Structure
- Objectives
  - End-effectors
  - Types of end-effectors
  - Grippers
    - Mechanical grippers
    - Magnetic grippers
    - Vacuum cups
  - Adhesive grippers
  - Tools
    - Tool for arc welding – welding torch
    - Tools for spray painting
    - Tools for spot welding
    - Rotating spindles
    - Deburring tools
  - Design and selection criteria for grippers
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
3. Sensors
- Introduction
- Structure
- Objectives
- Introduction to sensors
- Types of sensors
- Internal sensors
  - Position sensors
    - Potentiometer
    - Encoders
    - LVDT
    - Synchros and resolvers
  - Velocity sensors
    - Tachometer
    - Hall effect sensors
    - Acceleration sensors
  - External sensors
    - Contact sensors
    - Force sensors
    - Touch sensors
  - Non-contact sensors
    - Ultrasonic sensors
    - Proximity sensors
    - Optical sensors
    - Pneumatic sensors
- MEMS-based sensors
  - Introduction to MEMS
  - MEMS-based sensors
- Characteristics of sensors
- Applications of sensors
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
4. Robotic Drive Systems and Actuators
- Introduction
- Structure
- Objectives
- Introduction to actuators
- Classification of actuators
- Electric motors
  - Stepper motor
    - Permanent magnet stepper motor
    - Variable reluctance stepper motor
    - Hybrid stepper motor
    - Microprocessor control of stepper motor
  - DC motors
    - Permanent magnet DC motor
    - Brushless DC motor
    - DC servomotor
  - AC motors
  - Speed control of motors
  - Direction control of motors
- Hydraulic actuators
- Pneumatic actuators
- Linear actuators
  - Solenoids
  - Linear electric motors
  - Other types of actuators
  - Shape memory effect (SME) actuators
  - Shape Deposition Manufacturing (SDM) actuators
  - MEMS-based actuators
- Selection of actuators
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
5. Robotic Vision Systems and Image Processing
- Introduction
- Structure
- Objectives
- Robot vision
- Digital image
- Spatial domain and frequency domain operations
- Analog–digital conversion
  - Sensing
- Pre-processing
  - Spatial domain techniques
- Averaging filters
- Non-linear spatial filters – median filters
- Edge detection or sharpening filters
  - Frequency domain techniques
  - Segmentation
  - Segmentation by region growing
  - Segmentation by region splitting and merging
- Morphology operations
  - Structuring element
  - Erosion
  - Dilation
    - Opening and closing operations
    - Skeletonization
- Object recognition
  - Extracting features of objects
- Depth measurement
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
6. Introduction to Robotic Kinematics
- Introduction
- Structure
- Objectives
- Introduction to Kinematic
  - Types of kinematic links
  - Kinematic pair
    - Types of constrained motion
  - Common types of robotic joints
  - Kinematic chain
  - Closed and open chain mechanisms
- Degrees of freedom
  - Degrees of freedom of a rigid body in space
- Degrees of freedom of a rigid body in a plane
  - Number of degrees of freedom for mechanisms
  - Singularities
- Position and orientation of a rigid body in space
  - Configuration space
  - Coordinate systems
    - Cartesian coordinate system (x, y, z)
  - Cylindrical coordinate system (r, f, z)
    - Spherical coordinate system (r, θ, f)
- Representation of points, vectors, and frames of reference
  - Transformations
    - Translation
  - Rotation of a vector
  - Rotation of a frame relative to a fixed frame
    - Properties of the Special Orthogonal Matrix Group SO(n)
  - Representation of the frame relative to a fixed frame
- Homogeneous matrix representation of frames and transformations
  - Translation matrix
  - Rotation matrix
  - Combination of transformations
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
7. Forward and Inverse Kinematics
- Introduction
- Structure
- Objectives
- Robotic kinematics
- Homogeneous transformation matrix
  - End-effector frame
  - Arm equation
- Kinematics and manipulator control
  - Composite transformations
- Composite rotations
  - Common configurations in composite rotations
  - Composite rotations about X-Y-Z fixed axes
  - Euler angles
  - Composite homogeneous transformations
    - Chasles’ theorem and Rodrigues equation
- Kinematic study of robotic manipulators
  - Direct, inverse, and indirect kinematics
  - Direct kinematics
  - Denavit–Hartenberg (D-H) representation
  - Denavit–Hartenberg model
  - Determination of homogeneous transformation matrix from D-H parameters
  - Drawback of D-H representation
- Inverse kinematic problem
- Solving inverse kinematic problems
- Closed-form solutions
  - Algebraic method for solving an IKP
  - Inverse transformation method
  - Numerical solutions
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
8. Velocity Kinematics and Trajectory Planning
- Introduction
- Structure
- Objectives
  - Differential motions and velocity relationships
- Jacobian
- Robot dynamics
  - Holonomic and non-holonomic constraints
  - Euler–Lagrangian method
- Kinematic synthesis
  - Motion planning
- Motion planning essentials
  - Basics of motion planning
  - Approaches in motion planning
  - Forward planning
    - Inverse planning
    - Formation planning
  - Obstacle avoidance
- Trajectory planning
  - Time scaling of a path
  - Point-to-point trajectories
  - Cubic trajectory
  - Fifth-order polynomials
  - Non-polynomial motion planning
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
9. Control Systems for Robotic Motion Control
- Introduction
- Structure
- Objectives
- Introduction to robotic control systems
- Basic concepts of control systems
- Mathematical modeling
  - Laplace transform
  - Transfer Function
  - Mechanical systems
  - Electrical systems
- Block diagram reduction
  - Time response of control systems
    - First-order systems
    - Second-order systems
  - Characteristic equation
  - System stability
  - Controllers
    - ON–OFF controllers
    - Proportional controllers
    - Integral controllers
    - Proportional-plus-integral controllers (PI)
    - Proportional-plus-derivative controllers (P-D)
    - Proportional-plus-integral-plus-derivative controllers (P-I-D)
  - Non-linear control of robot systems
  - Digital control of robot systems
  - Z-transform
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
10. Robot Programming
- Introduction
- Structure
- Objectives
- Introduction to robot programming
  - Sensing
  - World modeling
  - Motion specification
  - Control flow
- Teach by pendant (powered lead-through programming)
- Manual lead-through programming
- Offline programming
  - Various programming levels
  - Various languages for robot programming
  - Modes of robot programming
- VAL programming
  - Commands for movement
  - Speed control commands
  - End-effector commands
  - Sensor commands
    - REACT command
- Robot programming with Python and C
- Specific issues addressed in robot programming languages
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
11. Applications of Robotics and Autonomous Systems
- Introduction
- Structure
- Objectives
- Introduction to robotics industry
- Industrial applications of robotics
  - Manufacturing applications
    - Welding
    - Resistance spot welding
    - Arc welding
    - Cutting
    - Drilling and fastening
    - Part dipping
    - Inspection
  - Material handling application
    - Palletizing and depalletizing
    - Loading and unloading
  - Industry 4.0
- Applications of robotics in space technology
  - Space robotics
- Specific applications of robotics in space
  - Constraints in designing space robots
    - Environmental constraints
- System constraints or programmatic constraints
- Defense and military applications
  - Applications of robotics and autonomous systems in defense
    - Better and improved situational awareness
    - Reduced soldiers’ workloads; physical and cognitive
  - Sustaining an effectively and efficiently distributed force
    - Facilitate quick movements and effortless maneuver
    - Protection of the forces
  - Obstacles in incorporating RAS in defense and military
- Medical and health service applications
  - Applications of robotics and automation in medical and healthcare fields
    - Medical robots for diagnosis and interventions
    - Medical robots for surgery and treatment
    - Medical robots for rehabilitation and therapy
  - Robotic devices in monitoring and assisting humans
- Conclusion
- Points to remember
- Multiple-choice questions
  - Answers
- Questions
- Key terms
Reference
Index

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