Robotics

Chapter 1. Connecting the Systems and the Definitions 1.1 Categories 1.2 Where They Came From 1.3 Where We Are 1.4 Robot Utilization 1.5 Physics of Robots 1.5.1 Shapes of Things 1.5.2 Coordinates 1.6 Configuration 1.6.1 Arms 1.6.2 Some Types of Robots 1.6.3 Servo vs. Nonservo 1.6.4 Powering the Arm 1.7 Safety Standards 1.7.1 UL Standards 1.7.2 ANSI StandardsChapter 2. The Technology 2.1 Robots on the Comeback 2.1.1 Learning Labs 2.1.2 Capabilities, Opportunities, and Improvements 2.2 Robotic Safety 2.2.1 Standards Development 2.2.2 Robotic Complexity 2.2.3 Speed as a Safety Consideration 2.2.4 The Human Factor 2.2.5 Safety References 2.3 Assembly Robots 2.3.1 Robotic Sensors 2.3.2 Assembly Integration 2.4 Welding Automation 2.4.1 MIG Welding 2.4.2 Vision-Guided System 2.4.3 Analog Controllers 2.4.4 Flexible Automation 2.4.5 Seam Tracking/Sensing 2.4.6 Expert Systems 2.5 The Nuclear Industry 2.5.1 Configurations 2.5.2 Applications 2.5.3 Successes 2.5.4 Expanding Technology 2.5.5 The Technology Overseas 2.6 Robots in Aerospace 2.6.1 Specialized Robots 2.6.2 Research 2.7 Flexible Workcells Use Vision 2.7.1 Part Presentation 2.7.2 Configuration 2.7.3 Cell Control 2.7.4 Communication 2.7.5 Handling Odd Shapes 2.7.6 Handling a Variety of Shapes 2.7.7 Handling Large Volumes 2.8 Off-line Programming 2.8.1 The Analytical Approach 2.8.2 RAPPG Evolves 2.8.3 Implementing OLP 2.8.4 How AROWS Works 2.8.5 Capabilities vs Needs 2.8.6 From Prototype to Production 2.8.7 Implementation Strategy 2.8.8 Production/Cost Benefits 2.9 Robotics in the Year 2000 2.9.1 Sales and Applications 2.9.2 Projected Costs 2.9.3 Systems and Software 2.9.4 Capabilities 2.9.5 Moderate, Steady Growth to 2000 2.9.6 What Do Real Figures Say? 2.10 Japan DominatesChapter 3. Systems Evaluation and Implementation 3.1 Enhancing Productivity 3.1.1 Anatomy of a Robot 3.1.2 Robot Applications 3.1.3 Planning, Installation, and Utilization 3.1.4 System Integration 3.1.5 Programming 3.1.6 Installation 3.1.7 Training 3.2 Systems Justification 3.2.1 The Accounting Mind-set 3.2.2 Measuring the Benefits 3.2.3 Levels of Integration 3.3 Controlling Multiple Robot Arms 3.3.1 Levels of Coordination 3.3.2 Defining Multi-Arm Control 3.3.3 Coordination Using Software 3.3.4 The Potential for Errors 3.3.5 Integration Principles and Strategy 3.4 Robot Accuracy 3.4.1 Defining Robot Accuracy 3.4.2 Influencing Robot Accuracy 3.4.3 Applications Inaccuracies 3.4.4 Improving Accuracy 3.4.5 Robot Calibration 3.4.6 Accuracy Measurements 3.5 Artificial Intelligence 3.5.1 Ford's Focus 3.5.2 Vendor Programs 3.5.3 Other Developments 3.6 Robotic Accuracy 3.6.1 Basic Concepts 3.6.2 Control Evolution 3.6.3 Point-to-Point Tests 3.6.4 State Accuracy 3.6.5 Path Control Tests 3.7 Simulation 3.7.1 Simulated Cells 3.7.2 Sequence Planning 3.8 Robots in Non-Traditional Roles 3.8.1 Robots in the Power Industry 3.9 Success Factors 3.10 CostsChapter 4. Applications 4.1 Faucet Packaging 4.1.1 Part Design and Assembly 4.1.2 Packaging Operation 4.1.3 Benefits 4.2 Printed Circuit Board Assembly 4.2.1 Assembly Operation 4.2.2 Machine Vision 4.2.3 Benefits 4.3 Force Sensing 4.3.1 The System 4.3.2 Previous Operation 4.3.3 The Robotic Sanding Tool 4.3.4 Operating Sequence 4.3.5 Driving the Inserts 4.3.6 Real-Time Control 4.3.7 Force Sensing 4.3.8 Programming Aids 4.4 Tire Handling 4.4.1 Previous Method 4.4.2 Turnkey System 4.4.3 Control System 4.5 Gyroscope Production 4.5.1 Original Method 4.5.2 Assembly 4.5.3 Welding 4.5.4 Payback 4.6 Disk Stacking 4.6.1 Operation 4.6.2 Burnishing 4.6.3 Vision System 4.6.4 CompletionVendors