Industrial robotics control : mathematical models, software architecture, and electronics design / Fabrizio Frigeni.

Contents
Preface
Who is this book for?
Structure of the book
Chapter 1 Industrial Robots
1.1 Nomenclature
1.2 Mechanical Configurations
1.3 Structure of a Robot Control System
1.4 Digital Twin
Part I: Robot Geometry
Chapter 2 Geometrical Framework
2.1 Reference Frames
2.2 Frame Operations
2.3 Frame Translations
2.4 Frame Rotations
2.5 Properties of a Rotation Matrix
2.6 Composing Rotations: Euler Angles
2.7 Decomposing a Rotation Matrix
2.8 Column Vectors
2.9 Expressing Rotations
2.10 Combining Translations and Rotations
2.11 Example
2.12 Inverted Transformation
Chapter 3 Forward Kinematics
3.1 Mechanical Structure
3.2 Step by Step Solution
3.3 Combined Transformation Matrix
3.4 Numerical Test
3.5 Zero Frame
3.6 Tool Frame
3.7 Mechanical Coupling
Chapter 4 Inverse Kinematics
4.1 Closed-Form Derivation
4.2 Non-Linear Problem
4.3 Non-Unique Solution
4.4 Singularities
4.5 IK Step 1 - Decoupling
4.6 IK Step 2 - Solve the Arm
4.7 IK Step 3 - Solve the Wrist
4.8 Numerical Test
4.9 Zero Frame
4.10 Tool Frame
4.11 Mechanical Coupling
Part II: Robot Movements
Chapter 5 Path Planning
5.1 PTP Movements
5.2 Path Movements
5.3 Quaternions
5.4 SLERP
5.5 Line
5.6 Circle
5.7 Spline
5.8 De Casteljau's Algorithm
5.9 Round Edges
5.10 Transitions
5.11 Path Length
5.12 External Path Corrections
Chapter 6 Workspace Monitoring
6.1 Linearization
6.2 Safe Zones
6.3 Forbidden Zones
6.4 Wireframe Model
6.5 Safe Orientation
6.6 Self-Collision
6.7 Capsules
6.8 Exclusive Zones
6.9 Collision Detection
Chapter 7 Trajectory Generator
7.1 S-Curve Profile
7.2 Sinusoidal Profile
7.3 Bezier Profile
7.4 Time-Optimal Movements
7.5 Differential Kinematics
7.6 Path Speed Definitions
7.7 Optimal Motion in Practice
7.8 Time Filtering
7.9 External Path Corrections
Chapter 8 Statics and Dynamics
8.1 Statics
8.2 Singularities
8.3 Dynamics
8.4 Dynamic Model
8.5 Lagrangian Method
8.6 Newton-Euler Method
8.7 Parameters Identification
8.8 Torque Feed-Forward
8.9 Trajectory Optimization
8.10 Teach by Hand
8.11 Motor Sizing
Part III: Robot Software
Chapter 9 Firmware
9.1 Human-Machine-Interface
9.2 Interpreter
9.3 Main Controller
9.4 Kernel Interface
9.5 Servo Drives
9.6 Electronic Commutation
Chapter 10 Calibration
10.1 Robot Calibration
10.2 Tool Calibration
10.3 Cell Calibration
Chapter 11 Commissioning
11.1 Safety
11.2 Tuning
Chapter 12 Simulation
12.1 Unity 3D
12.2 Building a Scene
12.3 Importing CAD Models
12.4 Programming Scripts
12.5 Communication Functions
12.6 User Interface
12.7 Machine Learning
Chapter 13 Machine Vision
13.1 Smart Camera
13.2 Vision Functions
13.3 Deep Learning
13.4 Convolutional Networks
Part IV: Robot Hardware
Chapter 14 Motors
14.1 DC Motors
14.2 Stepper Motors
14.3 Brushless Motors
14.4 Linear Motors
14.5 Motor sizing
Chapter 15 Encoders
15.1 Hall Sensors
15.2 Quadrature
15.3 SSI
15.4 Tamagawa
Chapter 16 Servo Drives
16.1 Power Switches
16.2 Gate Driver
16.3 Current Sensing
Chapter 17 Power Management
17.1 DC bus voltage
17.2 Protection functions
17.3 Voltage converter
Chapter 18 Main Controller
18.1 Microcontroller
18.2 IOs
18.3 Fieldbus
18.4 Integrated solution
18.5 Display
Chapter 19 Fabrication
19.1 PCB Design
19.2 Mechanics
Appendix: Kinematic Models

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.