Microprocessors in robotic and manufacturing systems

목차 (Table of Contents)

• CONTENTS
• Preface = xi
• Contributors = xv
• PART 1 ROBOTIC COMPUTATIONS
• CHAPTER 1 COMPUTATION OF ROBOT DYNAMICS BY A MULTIPROCESSOR SCHEME / Yuan F. Zheng
• 1. Introduction = 3
• 2. Tree-Height Reduction by Newton-Euler State Space Epuations = 6
• 3. The Multiprocessor System and the Task Allocation = 17
• 4. Performance Evaluation = 22
• 5. Parallel Processing for a Two Link Robot System = 24
• 6. Conclusion = 27
• References = 29
• CHAPTER 2 AUTOMATIC SCHEDULING OF THE NEWTON-EULER INVERSE DYNAMICS / Erik H. D'Hollander
• 1. Introduction = 31
• 2. Task Granularity and Communication Overhead = 32
• 3. The Newton-Euler Inverse Dynamics = 35
• 4. Automatic Data-Flow Analysis : the LEM Analyzer = 37
• 5. Parallel Execution = 39
• 6. Conclusion = 45
• References = 46
• CHAPTER 3 NUMERICAL APPLICATIONS OF DSPs IN ROBOTIC COMPUTATIONS / A. Di Stefano ; O. Mirabella
• 1. Introduction = 49
• 2. A Survey of the Main Characteristics of DSPs = 52
• 3. Numerical Applications in Robotic Computations = 61
• 4. Conclusions = 75
• References = 75
• CHAPTER 4 PARALLEL PROCESSING OF ROBOT CONTROL AND SIMULATION / Hironori Kasahara
• 1. Introduction = 79
• 2. Parallel Processing of Robot-Arm Control Computation = 80
• 3. Parallel Processing of Robot Dynamics Simulation = 92
• 4. Summary and Future Directions = 98
• References = 98
• PART 2 ROBOTIC CONTROL AND VISION
• CHAPTER 5 MICROPRO CESSOR-BASED CONTROLLERS FOR ROBOTIC MANIPULATORS / J. A. Tenreiro Machado ; J. L. Martins de Carvalh
• 1. Introduction = 103
• 2. Survey of Microprocessor-Based Controllers = 104
• 3. Techniques to Improve Microprocessor-Based Controller Implementation = 109
• 4. Conclusions = 120
• Acknowledgements = 120
• References = 120
• CHAPTER 6 DESIGN ASPECTS OF A ROBOT COORDINATED BY A DESKTOP COMPUTER / John Billigsley
• 1. Introduction = 131
• 2. The Supervisory system = 132
• 3. Kinematics and Their Inverse = 132
• 4. Polynomial Fitting = 139
• 5. Implementing the Difference Equations = 141
• 6. Axis Command and Coordination = 143
• 7. Implementing the Position Control Loop = 147
• 8. Priority of Operations in the Axis Controller = 150
• 9. Conclusions = 152
• Acknowledgements = 152
• References = 152
• CHAPTER 7 A PC SIMULATION PROGRAM FOR COMPARING PERFORMANCES OF ROBOT CONTROL ALGORITHMS / J. O'Shea ; R. Benali
• 1. Introduction = 153
• 2. Trajectory Generation = 155
• 3. Robot Control = 159
• 4. Robot Dynamics = 162
• 5. Some Control Algorithms = 168
• 6. Conclusions = 173
• References = 174
• CHAPTER 8 COLLISION STRATEGIES FOR ROBOT RETREAT AND RESISTANCE / R. E. Goddard ; K. L. Boyer ; H. Hemami
• 1. Introduction = 177
• 2. Pre-Collision Visual Sensing = 178
• 3. Post-Collision Tactile Sensing = 201
• 4. Control Requirements = 205
• 5. Four Link Biped = 207
• 6. Discussion and Conclusions = 213
• References = 213
• CHAPTER 9 A DISTRIBUTED CONTROL NETWORK FOR SENSORY ROBOTICS / A. T, de Almeida ; U. C. Nunes ; J. M. Dias ; H. J. Ara$$u'$$jo ; J. Batista
• 1. Introduction = 217
• 2. Distributed system architecture = 219
• 3. Modelling the environment = 220
• 4. Vision system = 221
• 5. Manipulator gripprr and associated sensors = 227
• 6. Sensor data integration = 231
• 7. Software considerations = 232
• 8. Conclusions = 233
• References = 234
• CHAPTER 10 NEURAL NETWORKS AND ROBOT WISION / Erik H. D'Hollander
• 1. Neural networks : what's in a name? = 237
• 2. Neural networks operation = 238
• 3. The linear pattern associator = 239
• 4. The nonlinear multilayered pattern associator = 242
• 5. The auto associator = 249
• 6. Constraint satisfaction network = 251
• 7. Competitive learning model = 253
• 8. Neural networks as parallel distributed processing systems = 255
• 9. Conclusion = 256
• References = 256
• PART3 MANUFACTURING SYSTEMS
• CHAPTER 11 MICROPROCESSORS IN DATA ACGUISITION SYSTEMS FOR PROCESS CONTROL / A. M. WEILERT
• 1. Microprocessor based data acquisition systems = 261
• 2. Process control = 270
• 3. Integration : automation with microprocessor based systems = 274
• References = 277
• CHAPTER 12 DESIGN AND ANALYSIS OF A MODULAR CNC SYSTEM / Y. Altintas
• 1. Introduction = 280
• 2. Physical componernts of the CNC milling machine = 282
• 3. Transfer functions of the feed drive control system = 283
• 4. State space modelling of the feed drive control system = 290
• 5. Experimental verification of the feed drive servo model = 294
• 6. Time domain simulation of contouring errors = 299
• 7. Conclusion = 309
• References = 309
• CHAPTER 13 COMPUTER／PROGRAMMABLE CONTROL OF A FLEXIBLE MANUFACTURING CELL / J. Richard ; F. LePage ; G. Morel
• 1. Introduction = 311
• 2. Cell functional requirements = 312
• 3. Structural requirments = 314
• 4. Study and realization = 320
• 5. Conclusion = 332
• Acknowledgements = 332
• References = 332
• CHAPTER 14 ROBOT AND PLCSUPPORT SYSTEM BASED ON FIBER OPTIC MAP NETWORK / P. Hodaie ; B. Chan ; B. Szabados ; O. Storoshchuk
• 1. Introduction = 335
• 2. Local area network selection criteria = 337
• 3. Network design = 338
• 4. Support application softwares = 340
• 5. Conclusions and recommendations = 350
• CHAPTER 15 EXPERIMENTAL RESULTS OF PARAMETER IDENTIFICATION AND NONLINEAR CONTROL ON A PM STEPPER MOTOR / M. Aiello ; R. Rekowski ; M. Bodson ; J. Chiasson ; D. Schuerer
• 1. Introduction = 353
• 2. Feedback linearization controller = 354
• 3. Model validation and parameter identification = 358
• 4. Experimental set up and results = 360
• 5. Future research = 366
• Acknowledgements = 366
• References = 367
• CHAPTER 16 DIGITAL SIGNAL PROCESSOR IMPLEMENTATION OF A KALMAN FILTER FOR DISK DRIVE HEAD POSITIONING MECHANISM / J. A. Lowe ; F. L. Lewis
• 1. Introduction = 369
• 2. The head-positioning actuator = 370
• 3. Kalman filter design = 373
• 4. Kalman filter implementation = 376
• 5. Conclusion = 382
• Acknowledgements = 383
• References = 383
• CHAPTER 17 SIMULATION ANALYSIS OF FLEXIBLE MANUFACTURING SYSTEMS USING RENSAM / Jorge Haddock ; Young Chul Kim
• 1. Introduction = 386
• 2. RENSAM System Description = 386
• 3. Case Study : Company C = 388
• 4. RENSAM Results = 392
• 5. Summary = 396
• References = 402
• AUTHOR INDEX = 403
• SUBJECT INDEX = 405