Tzafestas Microprocessors in Robotic and Manufacturing Systems

Erscheinungsjahr 2012
ISBN: 978-94-011-3812-3
Verlag: Springer Netherland
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, Band 6, 411 Seiten, eBook

Reihe: Intelligent Systems, Control and Automation: Science and Engineering

Microprocessors play a dominant role in computer technology and have contributed uniquely in the development of many new concepts and design techniques for modem industrial systems. This contribution is excessively high in the area of robotic and manufacturing systems. However, it is the editor's feeling that a reference book describing this contribution in a cohesive way and covering the major hardware and software issues is lacking. The purpose of this book is exactly to fill in this gap through the collection and presentation of the experience of a number of experts and professionals working in different academic and industrial environments. The book is divided in three parts. Part 1 involves the first four chapters and deals with the utilization of microprocessors and digital signal processors ( DSPs ) for the computation of robot dynamics. The emphasis here is on parallel computation with particular problems attacked being task granularity, task allocation/scheduling and communication issues. Chapter I, by Zheng and Hemami, is concerned with the real-time multiprocessor computation of torques in robot control systems via the Newton-Euler equations. This reduces substantially the height of the evaluation tree which leads to more effective parallel processing. Chapter 2, by D'Hollander, examines thoroughly the automatic scheduling of the Newton-Euler inverse dynamic equations. The automatic program decomposition and scheduling techniques developed are embedded in a tool used to generate multiprocessor schedules from a high-level language program.

Zielgruppe

Research

Autoren/Hrsg.

Tzafestas, S.G.

Inhaltsverzeichnis

I Robotic Computations.- 1 Computation of Robot Dynamics by a Multiprocessor Scheme.- 2 Automatic Scheduling of the Newton-Euler Inverse Dynamics.- 3 Numerical Applications of DSPs in Robotic Computations.- 4 Parallel Processing of Robot Control and Simulation.- 2 Robotic Control and Vision.- 5 Microprocessor-Based Controllers for Robotic Manipulators.- 6 Design Aspects of a Robot Coordinated by a Desktop Computer.- 7 A PC Simulation Program for Comparing Performances of Robot Control Algorithms.- 8 Collision Strategies for Robot Retreat and Resistance.- 9 A Distributed Control Network for Sensory Robotics.- 10 Neural Networks and Robot Vision.- 3 Manufacturing Systems.- 11 Microprocessors in Data Acquisition Systems for Process Control.- 12 Design and Analysis of a Modular CNC System.- 13 Computer / Programmable Control of a Flexible Manufacturing Cell.- 14 Robot and PLC Support System Based on Fiber Optic Map Network.- 15 Experimental Results of Parameter Identification And Nonlinear Control on a PM Stepper Motor.- 16 Digital Signal Processor Implementation of a Kalman Filter for Disk Drive Head Positioning Mechanism.- 17 Simulation Analysis of Flexible Manufacturing Systems Using Rensam.- Author Index.