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[资源] 【分享】Robotics_Intelligent System,Control,and Automation.Springer.2010

Robotics_Intelligent System,Control,and Automation_Science and Engineering_Volume 43
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Authors(Editors):
      Tadej Bajd
      Matja? Mihelj
      Jadran Lenarˇciˇc
      Ale? Stanovnik
      Marko Munih
Publisher: Springer
Pub Date: 2010
Pages: 155
ISBN:
ISBN 978-90-481-3775-6 e-ISBN 978-90-481-3776-3
DOI 10.1007/978-90-481-3776-3
Library of Congress Control Number: 2010920152

Preface
The word “robot” does not originate from a science or engineering vocabulary.
It was first used in the Czech drama R.U.R. (Rossum’s Universal Robots) written
by Karel ˇCapek and was first played in Prague in 1921 (the word itself was invented
by his brother Josef). In the drama the “robot” is an artificial human being which
is a brilliant worker, deprived of all unnecessary qualities: feelings, creativity and
capacity for feeling pain. In the prologue of the drama the following “definition”
of robots is given: Robots are not people (Roboti nejsou lidé). They are mechanically
more perfect than we are, they have an astounding intellectual capacity, but
they have no soul. The creation of an engineer is technically more refined than the
product of nature.
The textbook “Robotics” evolved through more than 10 years of teaching
robotics at the Faculty of Electrical Engineering, of the University of Ljubljana,
Slovenia. The way of presenting the rather demanding subject was successfully
tested with several generations of undergraduate students.
The major feature of the book is its simplicity. The basic characteristics of industrial
robot mechanisms are presented in the introduction. The position, orientation
and displacement of an object are described by homogenous transformation matrices.
These matrices, which are the basis for any analysis of robot mechanisms,
are introduced through simple geometrical reasoning. Geometrical models of the
robot mechanism are explained with the help of an original and friendly vector description.
Robot kinematics and dynamics are introduced via a mechanism with
only two rotational degrees of freedom, which is however an important part of the
most popular industrial SCARA and anthropomorphic robot structures. The presentation
of robot dynamics is based on only the knowledge of Newton’s law. The
robot workspace plays an important role in selecting an appropriate robot for the
task planned. Robot sensors and robot trajectory planning are presented. Basic control
schemes, resulting in either the desired end-effector trajectory or in the force
between the robot and its environment, are also explained. Robot grippers and feeding
devices are described together with the planning of robot assembly. The chapter
on standardization and measurement of accuracy and repeatability is of interest
for users of industrial robots. The textbook is supplemented with a short English–
German–French robotic vocabulary.
The book requires minimal advance knowledge of mathematics and physics.
Therefore it is appropriate for students of engineering schools (electrical, mechanical,
computer, civil) or first-level students according to the two-level Bologna
program. It could be of interest also for engineerswho did not study robotics, but encounter
robots in their working environment and wish to acquire some basic knowledge
in a simple and fast manner.
The authors acknowledge the precious help of Professor Robert Riener from
ETH, Zürich and Professor Christine Azevedo from LIRMM, Montpellier in preparation
of the English–German–French robotic vocabulary.
Ljubljana Tadej Bajd
July 2009 Matja? Mihelj

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