Industrial Robotics Control : Mathematical Models, Software Architecture, and Electronics Design / by Fabrizio Frigeni.

Format:

Book

Author/Creator:

Frigeni, Fabrizio, author.

Series:

Maker Innovations Series, 2948-2550

Language:

English

Subjects (All):

Automatic control.

Robotics.

Automation.

Control, Robotics, Automation.

Robotic Engineering.

Local Subjects:

Control, Robotics, Automation.

Robotics.

Robotic Engineering.

Physical Description:

1 online resource (638 pages)

Edition:

1st ed. 2023.

Place of Publication:

Berkeley, CA : Apress : Imprint: Apress, 2023.

Summary:

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.

Contents:

Chapter 1 Industrial Robots

Part I: Robot Geometry

Chapter 3 Forward Kinematics

Chapter 4 Inverse Kinematics

Part II: Robot Movements

Chapter 5 Path Planning

Chapter 6 Workspace Monitoring

Chapter 7 Trajectory Generator

Chapter 8 Statics and Dynamics

Part III: Robot Software

Chapter 9 Firmware

Chapter 10 Calibration

Chapter 11 Commissioning

Chapter 12 Simulation

Chapter 13 Machine Vision

Part IV: Robot Hardware

Chapter 14 Motors

Chapter 15 Encoders

Chapter 16 Servo Drives

Chapter 17 Power Management

Chapter 18 Main Controller

Chapter 19 Fabrication

Appendix: Kinematic Models.

Notes:

Includes index.

Other Format:

Print version: Frigeni, Fabrizio Industrial Robotics Control

ISBN:

9781484289891

1484289897

OCLC:

1356572649