Industrial Robotics: Technology Programming And Applications (Special Indian Edn), 2Nd Edn

Title
Contents
PART 1 Fundamentals of Robotics
	1. Introduction
		1.1 Automation and Robotics
		1.2 Robotics in Science Fiction
		1.3 A Brief History of Robotics
		1.4 The Robotics Market and the Future Prospects
			Review Questions
			References
	2. Fundamentals of Robot Technology, Programming, and Applications
		2.1 Robot Anatomy
		2.2 Work Volume
		2.3 Robot Drive Systems
		2.4 Control Systems
		2.5 Precision of Movement
		2.6 End Effectors
		2.7 Robotic Sensors
		2.8 Robot Programming and Work Cell Control
		2.9 Robot Applications
			Problems
			References
PART 2 Robot Technology: The Robot and its Peripherals
	3. Control Systems and Components
		3.1 Basic Control Systems Concepts and Models
		3.2 Controllers
		3.3 Control System Analysis
		3.4 Robot Sensors and Actuators
		3.6 Velocity Sensors
		3.7 Actuators
		3.8 Power Transmissions Systems
		3.9 Modeling and Control of a Single Joint Robot
			Problems
				References
	4. Robot Motion Analysis and Control
		4.1 Introduction to Manipulator Kinematics
		4.2 Homogeneous Transformations and Robot Kinematics
		4.3 Manipulator Path Control
		4.4 Robot Dynamics
			Problems
				References
	5. Robot End Effectors
		5.1 Types of End Effectors
		5.2 Mechanical Grippers
		5.3 Other Types of Grippers
		5.4 Tools as End Effectors
		5.5 The Robot/End Effector Interface
		5.6 Considerations in Gripper Selection and Design
			Problems
				References
	6. Sensors in Robotics
		6.1 Transducers and Sensors
		6.2 Sensors in Robotics
		6.3 Tactile Sensors
		6.4 Proximity and Range Sensors
		6.5 Miscellaneous Sensors and Sensor Based Systems
		6.6 Uses of Sensors in Robotics
			Problems
				References
	7. Machine Vision
		7.1 Introduction to Machine Vision
		7.2 The Sensing and Digitizing Function in Machine Vision
		7.3 Image Processing and Analysis
		7.4 Training the Vision System
		7.5 Robotic Applications
			Problems
				References
	8. Robot Programming
		8.1 Methods of Robot Programming
		8.2 Leadthrough Programming Methods
		8.3 A Robot Program as a Path in Space
		8.4 Motion Interpolation
		8.5 Wait, Signal, and Delay Commands
		8.6 Branching
		8.7 Capabilities and Limitations of Leadthrough Methods
			Problems
				References
PART 3 Robot Programming and Languages
	9. Robot Languages
		9.1 The Textual Robot Languages
		9.2 Generations of Robot Programming Languages
		9.3 Robot Language Structure
		9.4 Constants, Variables, and Other Data Objects
		9.5 Motion Commands
		9.6 End Effector and Sensor Commands
		9.7 Computations and Operations
		9.8 Program Control and Subroutines
		9.9 Communications and Data Processing
		9.10 Monitor Mode Commands
			Problems
				Review Questions
				References
			Appendix 9A Programming the Maker Robot
			Appendix 9B VAL II
			Appendix 9C RAIL
			Appendix 9D AML
	10. Artificial Intelligence
		10.1 Introduction
		10.2 Goals of AI Research
		10.3 AI Techniques
		10.4 LISP Programming
		10.5 AI and Robotics
		10.6 LISP in the Factory
		10.6 Robotic Paradigms
			Problems
			References
PART 4 Applications Engineering for Manufacturing
	11. Robot Cell Design and Control
		11.1 Robot Cell Layouts
			11.2 Multiple Robots and Machine Interference
				11.3 Other Considerations in Workcell Design
				11.4 Workcell Control
				11.5 Interlocks
				11.6 Error Detection and Recovery
				11.7 The Workcell Controller
				11.8 Robot Cycle Time Analysis
				11.9 Graphical Simulation of Robotic Workcells
					Problems
						References
	12. Economic Analysis for Robotics
		12.1 Economic Analysis: Basic Data Required
			12.2 Methods of Economic Analysis
				12.3 Subsequent use of the Robot
				12.4 Differences in Production Rates
				12.6 Robot Project Analysis Form
					Problems
						References
13. Material Transfer and Machine Loading/Unloading
	13.1 General Considerations in Robot Material Handling
	13.2 Material Transfer Applications
	13.3 Machine Loading and Unloading
		Problems
			References
PART 5 Robot Applications in Manufacturing
14. Processing Operations
	14.1 Spot Welding
	14.2 Continuous Arc Welding
	14.3 Spray Coating
	14.4 Other Processing Operations using Robots
		Problems
			References
15. Assembly and Inspection
	15.1 Assembly and Robotic Assembly Automation
	15.2 Parts Presentation Methods
	15.3 Assembly Operations
	15.4 Compliance and the Remote Center Compliance (RCC) Device
	15.6 Adaptable-Programmable Assembly System
	15.7 Designing for Robotic Assembly
	15.8 Inspection Automation
		References
PART 6 Implementation Principles and Issues
	16. An Approach for Implementing Robotics
		16.1 Initial Familiarization with Robotics Technology
		16.2 Plant Survey to Identify Potential Applications
		16.3 Selection of the Best Application
		16.4 Selection of the Robot
		16.5 Detailed Economic Analysis and Capital Authorization
		16.6 Planning and Engineering the Installation
		16.7 Installation
			References
	17. Safety, Training, Maintenance, And Quality
		17.1 Safety in Robotics
		17.2 Training
		17.3 Maintenance
			Problems
				References
PART 7 Social Issues and the Future of Robotics
	18. Social and Labor Issues
		18.1 Productivity and Capital Formation
		18.2 Robotics and Labor
		18.3 Education and Training
		18.4 International Impacts
		18.5 Other Applications
			Problems
				References
	19. Robotics Technology of the Future
		19.1 Robot Intelligence
		19.2 Advanced Sensor Capabilities
		19.3 Telepresence and Related Technologies
		19.4 Mechanical Design Features
		19.5 Mobility, Locomotion, and Navigation
		19.6 The Universal Hand
		19.7 Systems Integration and Networking
			References
	20. Future Applications
		20.1 Characteristics of Future Robot Tasks
		20.2 Future Manufacturing Applications of Robots
		20.3 Hazardous and Inaccessible Non-Manufacturing Environments
		20.4 Service Industry and Similar Applications
		20.5 Summary
			Problems
				References
Index