Robotics F. L. LEWIS, M. FITZGERALD, and K. LIU Automation and Robotics Research Institute, The University of Texas at Arlington flewis@controls.uta.edu Robots, machines with precise motion capabilities, repeatability, strength, and endurance, have been successfully applied in structured environments having little uncertainty, especially in manufacturing applications. Accurate motion and force sensors, advanced servo-level control systems, and programmable logic controllers (PLC) have allowed uses in processes including welding, assembly tasks, spray painting, palletizing, machine loading, and elsewhere [Groover et al. 1986]. However, the uses of robots have lagged behind expectations in unstructured or changing environments and in applications where goals or performance requirements change (e.g., in high-mix, low-volume manufacturing and elsewhere). We are now on the verge of breakthroughs that will radically increase the scope of applications of robots and other sophisticated machines. THE ROBOT MANIPULATOR AND ITS SENSORS, TOOLING, AND CONTROLLER adaptive, robust, and learning servocontrol algorithms, both for motion and force control. When considering the manipulator, one is faced with a variety of commercially available kinematic configurations yet rather limited capabilities of commercially available controllers. Common configurations include articulated arms, SCARA arms, Cartesian arms, and spherical and cylindrical arms. For a given application it is important to consider
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Robotics
Lewis, F. L.; Fitzgerald, M.; Liu, K.
Follow ACM Computing Surveys (CSUR)
, Volume 28 (1)
Association for Computing Machinery – Mar 1, 1996
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