Industrial robotics control : (Record no. 89270)

000 -LEADER
fixed length control field 06766cam a2200361 i 4500
005 - DATE AND TIME OF LATEST TRANSACTION
control field 20241209154843.0
006 - FIXED-LENGTH DATA ELEMENTS--ADDITIONAL MATERIAL CHARACTERISTICS--GENERAL INFORMATION
fixed length control field m o d
007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION
fixed length control field ta
008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION
fixed length control field 221231s2023 caum o u000 0 eng d
020 ## - INTERNATIONAL STANDARD BOOK NUMBER
International Standard Book Number 9781484289884
024 7# - OTHER STANDARD IDENTIFIER
Standard number or code 10.1007/978-1-4842-8989-1
Source of number or code doi
035 ## - SYSTEM CONTROL NUMBER
System control number (OCoLC)1356572649
Canceled/invalid control number (OCoLC)1356436445
037 ## - SOURCE OF ACQUISITION
Stock number 9781484289891
Source of stock number/acquisition O'Reilly Media
041 ## - LANGUAGE CODE
Language code of text/sound track or separate title eng
050 #4 - LIBRARY OF CONGRESS CALL NUMBER
Classification number TJ211
Item number .F75 2023
072 #7 - SUBJECT CATEGORY CODE
Subject category code TJFM
Source thema
082 04 - DEWEY DECIMAL CLASSIFICATION NUMBER
Classification number 629.892
Edition number 23/eng/20241209
100 1# - MAIN ENTRY--PERSONAL NAME
Preferred name for the person Frigeni, Fabrizio.
245 10 - TITLE STATEMENT
Title Industrial robotics control :
Remainder of title mathematical models, software architecture, and electronics design /
Statement of responsibility, etc Fabrizio Frigeni.
264 #1 - PUBLICATION, DISTRIBUTION, ETC. (IMPRINT)
Place of publication, distribution, etc Berkeley, CA :
Name of publisher, distributor, etc Apress L. P.,
Date of publication, distribution, etc 2023.
300 ## - PHYSICAL DESCRIPTION
Extent 638 pages :
Other physical details color illustrations;
Dimensions 24 cm
336 ## - CONTENT TYPE
Content type term text
Content type code txt
Source rdacontent.
337 ## - MEDIA TYPE
Media type term unmediated
Media type code n
Source rdamedia.
338 ## - CARRIER TYPE
Carrier type term volume
Carrier type code nc
Source rdacarrier.
490 1# - SERIES STATEMENT
Series statement Maker innovations series.
505 0# - CONTENTS
Formatted contents note Contents<br/>Preface<br/>Who is this book for?<br/>Structure of the book<br/>Chapter 1 Industrial Robots<br/>1.1 Nomenclature<br/>1.2 Mechanical Configurations<br/>1.3 Structure of a Robot Control System<br/>1.4 Digital Twin<br/>Part I: Robot Geometry<br/>Chapter 2 Geometrical Framework<br/>2.1 Reference Frames<br/>2.2 Frame Operations<br/>2.3 Frame Translations<br/>2.4 Frame Rotations<br/>2.5 Properties of a Rotation Matrix<br/>2.6 Composing Rotations: Euler Angles<br/>2.7 Decomposing a Rotation Matrix<br/>2.8 Column Vectors<br/>2.9 Expressing Rotations<br/>2.10 Combining Translations and Rotations<br/>2.11 Example<br/>2.12 Inverted Transformation<br/>Chapter 3 Forward Kinematics<br/>3.1 Mechanical Structure<br/>3.2 Step by Step Solution<br/>3.3 Combined Transformation Matrix<br/>3.4 Numerical Test<br/>3.5 Zero Frame<br/>3.6 Tool Frame<br/>3.7 Mechanical Coupling<br/>Chapter 4 Inverse Kinematics<br/>4.1 Closed-Form Derivation<br/>4.2 Non-Linear Problem<br/>4.3 Non-Unique Solution<br/>4.4 Singularities<br/>4.5 IK Step 1 - Decoupling<br/>4.6 IK Step 2 - Solve the Arm<br/>4.7 IK Step 3 - Solve the Wrist<br/>4.8 Numerical Test<br/>4.9 Zero Frame<br/>4.10 Tool Frame<br/>4.11 Mechanical Coupling<br/>Part II: Robot Movements<br/>Chapter 5 Path Planning<br/>5.1 PTP Movements<br/>5.2 Path Movements<br/>5.3 Quaternions<br/>5.4 SLERP<br/>5.5 Line<br/>5.6 Circle<br/>5.7 Spline<br/>5.8 De Casteljau's Algorithm<br/>5.9 Round Edges<br/>5.10 Transitions<br/>5.11 Path Length<br/>5.12 External Path Corrections<br/>Chapter 6 Workspace Monitoring<br/>6.1 Linearization<br/>6.2 Safe Zones<br/>6.3 Forbidden Zones<br/>6.4 Wireframe Model<br/>6.5 Safe Orientation<br/>6.6 Self-Collision<br/>6.7 Capsules<br/>6.8 Exclusive Zones<br/>6.9 Collision Detection<br/>Chapter 7 Trajectory Generator<br/>7.1 S-Curve Profile<br/>7.2 Sinusoidal Profile<br/>7.3 Bezier Profile<br/>7.4 Time-Optimal Movements<br/>7.5 Differential Kinematics<br/>7.6 Path Speed Definitions<br/>7.7 Optimal Motion in Practice<br/>7.8 Time Filtering<br/>7.9 External Path Corrections<br/>Chapter 8 Statics and Dynamics<br/>8.1 Statics<br/>8.2 Singularities<br/>8.3 Dynamics<br/>8.4 Dynamic Model<br/>8.5 Lagrangian Method<br/>8.6 Newton-Euler Method<br/>8.7 Parameters Identification<br/>8.8 Torque Feed-Forward<br/>8.9 Trajectory Optimization<br/>8.10 Teach by Hand<br/>8.11 Motor Sizing<br/>Part III: Robot Software<br/>Chapter 9 Firmware<br/>9.1 Human-Machine-Interface<br/>9.2 Interpreter<br/>9.3 Main Controller<br/>9.4 Kernel Interface<br/>9.5 Servo Drives<br/>9.6 Electronic Commutation<br/>Chapter 10 Calibration<br/>10.1 Robot Calibration<br/>10.2 Tool Calibration<br/>10.3 Cell Calibration<br/>Chapter 11 Commissioning<br/>11.1 Safety<br/>11.2 Tuning<br/>Chapter 12 Simulation<br/>12.1 Unity 3D<br/>12.2 Building a Scene<br/>12.3 Importing CAD Models<br/>12.4 Programming Scripts<br/>12.5 Communication Functions<br/>12.6 User Interface<br/>12.7 Machine Learning<br/>Chapter 13 Machine Vision<br/>13.1 Smart Camera<br/>13.2 Vision Functions<br/>13.3 Deep Learning<br/>13.4 Convolutional Networks<br/>Part IV: Robot Hardware<br/>Chapter 14 Motors<br/>14.1 DC Motors<br/>14.2 Stepper Motors<br/>14.3 Brushless Motors<br/>14.4 Linear Motors<br/>14.5 Motor sizing<br/>Chapter 15 Encoders<br/>15.1 Hall Sensors<br/>15.2 Quadrature<br/>15.3 SSI<br/>15.4 Tamagawa<br/>Chapter 16 Servo Drives<br/>16.1 Power Switches<br/>16.2 Gate Driver<br/>16.3 Current Sensing<br/>Chapter 17 Power Management<br/>17.1 DC bus voltage<br/>17.2 Protection functions<br/>17.3 Voltage converter<br/>Chapter 18 Main Controller<br/>18.1 Microcontroller<br/>18.2 IOs<br/>18.3 Fieldbus<br/>18.4 Integrated solution<br/>18.5 Display<br/>Chapter 19 Fabrication<br/>19.1 PCB Design<br/>19.2 Mechanics<br/>Appendix: Kinematic Models
520 ## - SUMMARY, ETC.
Summary, etc Build a complete control system for industrial robots, learning all the theory and practical tips from the perspective of an automation engineer. Explore the details of kinematics, trajectories, and motion control, and then create your own circuit board to drive the electric motors and move the robot. After covering the theory, readers can put what they've learned in practice by programming a control firmware for the robot. Each software component is described in detail, from the HMI and the interpreter of motion commands, to the servo loop controller at the core of each servo drive. In particular, the author presents the commutation algorithm and the servo loop controller for brushless synchronous motors, which are typically employed in robotics applications. Readers will also learn how to calibrate the robot, commission it to the end-user, and design a digital twin to test and monitor the entire workcell in a safe simulated environment. Finally, the book delves into hardware, covering how to select and use electric motors and encoders, how to build servo drives and motion controllers, and how to design your own PCBs. Different electronic components and their application circuits are analyzed, showing the advantages and drawbacks of each. By the end of the book you 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. What you'll learn Solve kinematics models of robots Generate safe paths and optimal motion trajectories Create a digital twin of your 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 Who This Book Is For Robotics engineers (and students) who want to understand the theory behind the control of robotics arms, from the kinematic models of their axes to the electronic commutation of their motors. Some basic calculus and linear algebra is required for the understanding of the geometrical framework, while some electronics foundations are helpful to grasp the details of the circuits design.
650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM
Topical term or geographic name as entry element Automatic control.
Authority record control number https://id.loc.gov/authorities/subjects/sh85010089.
650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM
Topical term or geographic name as entry element Robotics.
Authority record control number https://id.loc.gov/authorities/subjects/sh85114628.
830 #0 - SERIES ADDED ENTRY--UNIFORM TITLE
Uniform title Maker innovations series.
942 ## - ADDED ENTRY ELEMENTS
Source of classification or shelving scheme
Item type BOOK
Holdings
Withdrawn status Lost status Source of classification or shelving scheme Damaged status Not for loan Permanent Location Current Location Shelving location Date acquired Source of acquisition Cost, normal purchase price Inventory number Full call number Barcode Date last seen Price effective from Item type
          COLLEGE LIBRARY COLLEGE LIBRARY SUBJECT REFERENCE 2024-11-18 ALBASA 4751.00 53994 629.892 F916 2023 CITU-CL-53994 2024-12-09 2024-12-09 BOOK