By D.J. Todd
Methods of contro1151 Mechanical master-slave telemanipulators 151 Powered telemanipulators 152 Servo regulate of unilateral telemanipulators 152 Bilateral servo manipulators a hundred and fifty five detailed features of teleoperators 158 layout standards for teleoperators 159 cars and transporters one hundred sixty functions of teleoperators 161 distant dealing with of radioactive fabrics 161 distant dealing with of explosive and poisonous fabrics 161 Telemanipulation of heavy items 163 Underwater teleoperation 163 Teleoperation in house and planetary exploration 164 Telemanipulators for the disabled 164 machine assisted teleoperation 166 Bibliographic notes one hundred seventy bankruptcy nine: cellular robots 171 creation 171 Land floor robots 171 preparations of wheels and tracks 171 strange wheel and music preparations 172 Navigation for land automobiles 174 Teleoperation 174 useless reckoning one hundred seventy five Inertial navigation a hundred seventy five monitoring from a set base; beacons one hundred seventy five satellite tv for pc navigation one hundred seventy five Map matching one hundred seventy five Wall following 176 path making plans 176 regulate and communique 176 Sensors for cellular robots 177 physique orientation and angular premiums 1 seventy seven physique place, velocity and acceleration 177 Terrain scanning 178 forms and functions of cellular robots 179 schooling and study 179 distant dealing with 183 army cellular robots 183 Fire-fighting and rescue 187 development 188 Mining 188 Planetary exploration 188 Legged robots 188 comparability of legs and wheels 189 Leg quantity and association 189 Leg quantity 189 Leg disposition one hundred ninety Relative leg size one hundred ninety Leg development a hundred ninety regulate 191 mountain climbing robots 195 robotic submersibles 196 makes use of of submersible robots 199 Robots in air and area 201 area 202 Bibliographic notes 204 bankruptcy 10: computerized guided autos 205
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Additional resources for Fundamentals of Robot Technology: An Introduction to Industrial Robots, Teleoperators and Robot Vehicles
21(a). 19 An example of alignment error - a peg being inserted into a hole. sideways as the jaws close. 21(b) is preferred. The jaws are coupled by gears or a linkage. 21(c) has been fitted with jaw faces matching a particular part. 21(d), (e) and (f) are suitable for gripping objects with parallel faces. 20 A remote centre compliance (RGG) linkage, shown in two dimensions. In practice the linkage is three dimensional, allowing compliant motion in two planes, and occupies a cylindrical housing.
This pattern was made on a plugboard, and putting the plugs in the right places was how the manipulator was programmed. In more modern pick and place machines the mechanical sequencer and plugboard are replaced by an electronic, microprocessor-based controller, allowing the arm to be programmed by typing a series of axis identification codes on a small keyboard. The controller has interfaces for reading the limit switches and driving the valves. It can be a general purpose industrial controller as used for machine tools.
Features such as BEGIN ... END, IF ... THEN ... ELSE, and DO loops), arithmetical operations, data types, subroutines and functions. As well as these language features there should be an adequate range of support tools (editors, compilers, debugging facilities, file handling). Also, since robot control is an instance of realtime computer control, the language and the operating system, if any, under which it runs must be suitable for real-time control; this usually implies the ability to deal with interrupts and perhaps to allow several processes to run simultaneously while communicating with each other.
Fundamentals of Robot Technology: An Introduction to Industrial Robots, Teleoperators and Robot Vehicles by D.J. Todd