Industrial Robotics Control: Mathematical Models, Software Architecture, and Electronics Design

This book provides a comprehensive guide to designing and building electronic boards and writing firmware for industrial robots. It covers kinematics,trajectories,motion control,and hardware,and includes practical tips and examples for automation engineers.

Format: Paperback / softback
Length: 634 pages
Publication date: 28 December 2022
Publisher: APress

This book is designed for automation engineers, robotics engineers, and anyone interested in designing and building electronic boards and writing their core firmware to control industrial robots. It assumes a basic understanding of electronics and programming, but no prior knowledge of robotics or automation is required.

II.
Chapter 1: Introduction to Industrial Robots

A.
Industrial robots are automated machines used in manufacturing, assembly, and other industrial processes. They can be programmed to perform a wide range of tasks, from simple pick and place operations to complex assembly sequences.

B.
Robots are controlled by electronic boards that receive commands from a human operator or a computer program. These boards are responsible for interpreting the commands, generating the necessary electrical signals, and controlling the robot's movements.

C.
Theory of Industrial Robots

A.
Kinematics: Kinematics is the study of the motion of objects. In robotics, kinematics is used to define the robot's geometry, determine its position and orientation, and calculate the forces and torques acting on it.

B.
Trajectories: Trajectories are the paths that the robot follows during its motion. They can be generated using mathematical algorithms or by manually programming the robot.

C.
Motion Control: Motion control is the process of controlling the robot's movements. It involves the use of sensors, actuators, and controllers to generate the necessary electrical signals to move the robot.

D.
Design Considerations

A.
Robot Geometry: The robot's geometry plays a crucial role in its motion and performance. The dimensions of the robot's arms, legs, and torso must be carefully designed to ensure that it can reach the desired locations and perform the desired tasks.

B.
Payload Capacity: The robot's payload capacity must be considered when designing its geometry. The robot must be able to carry the weight of the objects it is intended to handle.

C.
Environment: The robot's environment must be considered when designing its geometry and motion control system. The robot must be able to operate in a variety of conditions, including different temperatures, humidity, and dust levels.

E.
Chapter 2: Kinematics of Industrial Robots

A.
Definition of Kinematics: Kinematics is the study of the motion of objects without consideration of the forces. In robotics, kinematics is used to define the robot's geometry, determine its position and orientation, and calculate the forces and torques acting on it.

B.
Forward Kinematics: Forward kinematics is the process of determining the position and orientation of a robot's joints from a given set of coordinates. It involves the use of geometric equations and trigonometric functions to calculate the position and orientation of the joints.

C.
Inverse Kinematics: Inverse kinematics is the process of determining the joint angles and velocities necessary to achieve a given position and orientation of the end effector. It involves the use of geometric equations and trigonometric functions to calculate the joint angles and velocities.

D.
Chapter 3: Trajectories of Industrial Robots

A.
Definition of Trajectories: Trajectories are the paths that the robot follows during its motion. They can be generated using mathematical algorithms or by manually programming the robot.

B.
Trajectory Generation: Trajectory generation involves the use of mathematical algorithms to calculate the robot's motion. The algorithms take into account the robot's geometry, payload capacity, and environmental conditions to generate safe and optimal trajectories.

C.
Trajectory Optimization: Trajectory optimization involves the use of mathematical algorithms to improve the robot's motion. The algorithms take into account the robot's geometry, payload capacity, and environmental conditions to generate safe and optimal trajectories.

D.
Chapter 4: Motion Control of Industrial Robots

A.
Definition of Motion Control: Motion control is the process of controlling the robot's movements. It involves the use of sensors, actuators, and controllers to generate the necessary electrical signals to move the robot.

B.
Actuators: Actuators are the devices that generate the forces and torques acting on the robot. They can be classified into two types: linear actuators and rotary actuators.

C.
Sensors: Sensors are the devices that detect the robot's position and orientation. They can be classified into two types: position sensors and orientation sensors.

D.
Controllers: Controllers are the devices that generate the necessary electrical signals to move the robot. They can be classified into two types: open-loop controllers and closed-loop controllers.

E.
Chapter 5: Design Considerations for Motion Control

A.
Robot Geometry: The robot's geometry plays a crucial role in its motion and performance. The dimensions of the robot's arms, legs, and torso must be carefully designed to ensure that it can reach the desired locations and perform the desired tasks.

B.
Payload Capacity: The robot's payload capacity must be considered when designing its geometry. The robot must be able to carry the weight of the objects it is intended to handle.

C.
Environment: The robot's environment must be considered when designing its geometry and motion control system. The robot must be able to operate in a variety of conditions, including different temperatures, humidity, and dust levels.

F.
Chapter 6: Implementation of Motion Control in Industrial Robots

A.
Forward Kinematics: Forward kinematics is the process of determining the position and orientation of a robot's joints from a given set of coordinates. It involves the use of geometric equations and trigonometric functions to calculate the position and orientation of the joints.

B.
Inverse Kinematics: Inverse kinematics is the process of determining the joint angles and velocities necessary to achieve a given position and orientation of the end effector. It involves the use of geometric equations and trigonometric functions to calculate the joint angles and velocities.

C.
Chapter 7: Calibration and Commissioning of Industrial Robots

A.
Calibration: Calibration is the process of adjusting the robot's motion control system to ensure that it performs accurately. It involves the use of sensors and actuators to measure the robot's position and orientation and adjust the system accordingly

B.
Commissioning: Commissioning is the process of testing and monitoring the robot's motion control system to ensure that it performs accurately and reliably. It involves the use of sensors and actuators to test the robot's motion and monitor its performance.

C.
Chapter 8: Digital Twin of Industrial Robots

A.
Definition of Digital Twin: A digital twin is a virtual replica of an industrial robot that can be used to test and monitor its movements in a safe simulated environment.

B.
Benefits of Digital Twin: The benefits of a digital twin include reduced downtime, improved safety, and increased efficiency.

C.
Design Considerations for Digital Twin: The design considerations for a digital twin include the selection of the appropriate simulation software, the creation of a detailed model of the robot, and the development of a simulation environment.

D.
Chapter 9: Hardware of Industrial Robots

A.
Definition of Hardware: Hardware is the physical components of an industrial robot.

B.
Electric Motors: Electric motors are the devices that drive the robot's movements. They can be classified into two types: brushed motors and brushless motors.

C.
Encoders: Encoders are the devices that detect the robot's position and orientation. They can be classified into two types: absolute encoders and incremental encoders.

D.
Servo Drives: Servo drives are the devices that control the movement of the robot's arms and legs. They can be classified into two types: brushed servo drives and brushless servo drives.

E.
Motion Controllers: Motion controllers are the devices that control the movement of the robot's torso. They can be classified into two types: open-loop motion controllers and closed-loop motion controllers.

F.
Chapter 10: Conclusion

A.
In conclusion, this book provides a comprehensive guide to designing and building electronic boards and writing their core firmware to control industrial robots. It covers the theory of industrial robots, including kinematics, trajectories, and motion control, and provides practical tips for implementing these concepts in real-world applications. Readers will learn how to solve kinematics models of robots, generate safe paths and optimal motion trajectories, create a digital twin of their robot to test and monitor its movements, master the electronic commutation and closed-loop control of brushless motors, design electronics circuit boards for motion applications, and more. By the end of the book, readers should be able to design and build electronic boards and write their core firmware to control any kind of industrial robot for all sorts of different practical applications.

This book is designed for automation engineers, robotics engineers, and anyone interested in designing and building electronic boards and writing their core firmware to control industrial robots. It assumes a basic understanding of electronics and programming, but no prior knowledge of robotics or automation is required.

Weight: 980g
Dimension: 235 x 155 (mm)
ISBN-13: 9781484289884
Edition number: 1st ed.