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" Theory of Automatic Robot Assembly and Programming "
by Bartholomew O. Nnaji.
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BL
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| Record Number
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774877
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b594872
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| Main Entry
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by Bartholomew O. Nnaji.
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| Title & Author
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Theory of Automatic Robot Assembly and Programming\ by Bartholomew O. Nnaji.
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| Publication Statement
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Dordrecht : Springer Netherlands, 1993
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| Page. NO
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(xvii, 306 pages)
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| ISBN
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9401115907
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: 9789401115902
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| Contents
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1 Machine programming --; 1.1 Introduction --; 1.2 Problems of machine reasoning --; 1.3 Robot programming --; 1.4 Machine task-level programming --; 1.5 Organization of this book --; 2 CAD in automatic machine programming --; 2.1 Introduction --; 2.2 Desired CAD data --; 2.3 Feature, feature classification and representation --; 2.4 Feature reasoning for mechanical components --; 3 Spatial relationships --; 3.1 Introduction --; 3.2 Background --; 3.3 Spatial relationships --; 3.4 Product specification attributes --; 3.5 Applications --; 4 Structure of an automatic robot programmer --; 4.1 Introduction --; 4.2 An overview of RALPH --; 4.3 World knowledge database --; 4.4 RALPH commands --; 4.5 Mathematical consideration --; 4.6 Task planner --; 4.7 An example of assembly task --; 4.8 Programming issues --; 4.9 Discussion --; 5 Sensors and representation --; 5.1 Background --; 5.2 Internal and external sensors --; 5.3 Sensor fusion --; 5.4 Sensor architecture --; 5.5 Representation --; 5.6 Probability of sensor usage --; 5.7 Processing --; 6 World modeling and task specification --; 6.1 World modeling --; 6.2 Task specification --; 6.3 Assembly stability model --; 6.4 Designing for stability --; 6.5 Relative stability --; 6.6 Summary --; 7 Gross motion planning and collision avoidance --; 7.1 Introduction --; 7.2 Gross motion in RALPH --; 7.3 Robot motion planning problems --; 7.4 The path planning algorithm --; 7.5 Discussion --; 7.6 Summary --; 8 Grasp planning --; 8.1 Introduction --; 8.2 Background --; 8.3 World spatial relationships in grasping --; 8.4 Grasping concepts --; 8.5 Design and implementation --; 8.6 Summary --; 9 Trajectory planning and control --; 9.1 Introduction --; 9.2 Evaluation of trajectories --; 9.3 Other trajectory evaluation approaches --; 9.4 Background material --; 9.5 Robots with more than 3 degrees of freedom --; 9.6 Evaluation and analysis --; 9.7 Summary --; 10 Considerations for generic kinematic structures --; 10.1 Introduction --; 10.2 Kinematic structures --; 10.3 Kinematic implementation --; 10.4 Kinematic analysis --; 10.5 Example --; 10.6 Pattern of kinematic behavior --; 10.7 Summary --; 11 Program synthesis and other planners --; 11.1 Introduction --; 11.2 Spanning vector for assembly directions and other applications --; 11.3 Precedence generation --; 11.4 Fine motion planning --; 11.5 Program synthesis --; References.
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| Abstract
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This book sets current theory of prospects for automatic robot programming in the context of current manufacturing engineering systems. It describes the way in which machines of the future, such as robots, can be programmed. The application area of assembly is used as the domain of explanation of the concepts.
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| Subject
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Engineering design.
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| Subject
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Engineering.
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| LC Classification
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TS191.8B933 1993
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| Added Entry
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Bartholomew O Nnaji
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