Jack H

13.1.3 Modeling the Robot

Содержание

1.3 PRACTICE PROBLEMS
2. AN INTRODUCTION TO LINUX/UNIX
2.1 OVERVIEW
2.1.1 What is it?
2.1.7 Distributions
2.1.8 Installing
2.2 USING LINUX
2.2.1 Some Terminology
2.2.4 Processes
2.3 NETWORKING
2.3.1 Security
2.4 INTERMEDIATE CONCEPTS
2.4.1 Shells
2.4.4 Desktop Tools
2.5 LABORATORY - A LINUX SERVER
2.8 REFERENCES
3.7 ARCHITECTURE OF ‘C’ PROGRAMS (TOP-DOWN)
3.9 CASE STUDY - THE BEAMCAD PROGRAM
3.9.1 Objectives:
3.9.2 Problem Definition:
3.9.3 User Interface:
3.9.3.1 - Screen Layout (also see figure):
3.9.7 Documentation
3.9.7.1 - Users Manual:
3.9.7.2 - Programmers Manual:
3.10 PRACTICE PROBLEMS
3.11 LABORATORY - C PROGRAMMING
4. NETWORK COMMUNICATION
4.1 INTRODUCTION
4.2 NETWORKS
4.2.1 Topology
4.2.3 Networking Hardware
4.2.6 SLIP and PPP
4.3 INTERNET
4.3.2 Computer Ports
4.3.3 Security
4.4 FORMATS
4.4.1 HTML
4.4.5 Java
4.4.6 Javascript
4.6 DESIGN CASES
4.9 LABORATORY - NETWORKING
5. DATABASES
5.2 DATABASE ISSUES
6. COMMUNICATIONS
6.1 SERIAL COMMUNICATIONS
6.2 SERIAL COMMUNICATIONS UNDER LINUX
6.3 PARALLEL COMMUNICATIONS
7. PROGRAMMABLE LOGIC CONTROLLERS (PLCs)
7.12.1 Data Files
7.12.1.4 - PLC Status Bits (for PLC-5s)
7.12.1.5 - User Function Memory
7.13 INSTRUCTION TYPES
7.13.1 Program Control Structures
7.13.2 Branching and Looping
7.13.3 Basic Data Handling
7.13.3.1 - Move Functions
7.15 LOGICAL FUNCTIONS
7.20 DESIGN TECHNIQUES
7.20.1 State Diagrams
7.23.1 SWITCHED INPUTS AND OUTPUTS
7.25 PRACTICE PROBLEMS
8.2 PROPRIETARY NETWORKS
8.2.0.1 - Data Highway
8.4 LABORATORY - DEVICENET
8.5 TUTORIAL - SOFTPLC AND DEVICENET
9. INDUSTRIAL ROBOTICS
9.1 INTRODUCTION
9.1.1 Basic Terms
9.2.2 Types of Robots
9.2.2.1 - Robotic Arms
9.3 MECHANISMS
9.5.2 Movemaster Programs
9.5.2.0.1 - Language Examples
9.5.3 Command Summary
9.6 PRACTICE PROBLEMS
9.7 LABORATORY - MITSUBISHI RV-M1 ROBOT
10. OTHER INDUSTRIAL ROBOTS
10.1 SEIKO RT 3000 MANIPULATOR
10.1.1.2 - Commands Summary
10.2 IBM 7535 MANIPULATOR
10.2.1 AML Programs
10.3 ASEA IRB-1000
10.6 LABORATORY - SEIKO RT-3000 ROBOT
11. ROBOT APPLICATIONS
11.0.1 Overview
11.1 END OF ARM TOOLING (EOAT)
11.1.1 EOAT Design
11.1.2 Gripper Mechanisms
11.1.3 Magnetic Grippers
11.1.3.1 - Adhesive Grippers
11.1.4 Expanding Grippers
11.3 INTERFACING
12. SPATIAL KINEMATICS
12.1 BASICS
12.2.1 Denavit-Hartenberg Transformation (D-H)
12.3 SPATIAL DYNAMICS
12.3.1 Moments of Inertia About Arbitrary Axes
12.4 DYNAMICS FOR KINEMATICS CHAINS
12.4.1 Euler-Lagrange
12.4.2 Newton-Euler
13.1.3 Modeling the Robot
13.2.2 Computer Control of Robot Paths (Incremental Interpolation)
13.4 LABORATORY - AXIS AND MOTION CONTROL
14. CNC MACHINES
14.1 MACHINE AXES
14.2 NUMERICAL CONTROL (NC)
14.3 EXAMPLES OF EQUIPMENT
14.3.1 EMCO PC Turn 50
14.4 PRACTICE PROBLEMS
14.5 TUTORIAL - EMCO MAIER PCTURN 50 LATHE (OLD)
14.6.1 LABORATORY - CNC MACHINING
15.3 PROPRIETARY NC CODES
16.5 DISCRETE IO
16.6 COUNTERS AND TIMERS
16.7 ACCESSING DAQ CARDS FROM LINUX
16.8 SUMMARY
16.9 PRACTICE PROBLEMS
17. VISIONS SYSTEMS
17.1 OVERVIEW
17.11 PRACTICE PROBLEMS
18. INTEGRATION ISSUES
18.1 CORPORATE STRUCTURES
18.2 CORPORATE COMMUNICATIONS
19. MATERIAL HANDLING
19.1 INTRODUCTION
19.3 PRACTICE QUESTIONS
19.4 LABORATORY - MATERIAL HANDLING SYSTEM
19.4.1 System Assembly and Simple Controls
19.5 AN EXAMPLE OF AN FMS CELL
19.5.1 Overview
19.6 THE NEED FOR CONCURRENT PROCESSING
20. PETRI NETS
20.1 INTRODUCTION
20.2 A BRIEF OUTLINE OF PETRI NET THEORY
20.4.3 An Exclusive OR Transition:
20.4.5 RELATIONAL NETS
20.7 PRACTICE PROBLEMS
21. PRODUCTION PLANNING AND CONTROL
21.1 OVERVIEW
21.2 SCHEDULING
21.3 SHOP FLOOR CONTROL
21.3.1 Shop Floor Scheduling - Priority Scheduling
22. SIMULATION
22.3 DESIGN OF EXPERIMENTS
23. PLANNING AND ANALYSIS
23.1 FACTORS TO CONSIDER
24. REFERENCES
25. APPENDIX A - PROJECTS
25.1 TOPIC SELECTION
25.1.1 Previous Project Topics
25.2 CURRENT PROJECT DESCRIPTIONS

Разделы Контакты