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Contents
Series Introduction v
Preface vii
1 Commercial Robot Manipulators 1
1.1 Introduction 1
Flexible Robotic Workcells 2
1.2 Commercial Robot Configurations and Types 3
Manipulator Performance 3
Common Kinematic Configurations 4
Drive Types of Commercial Robots 9
1.3 Commercial Robot Controllers 10
1.4 Sensors 12
Types of Sensors 13
Sensor Data Processing 16
References 19
2 Introduction to Control Theory 21
2.1 Introduction 21
2.2 Linear State-Variable Systems 22
Continuous-Time Systems 22
Discrete-Time Systems 28
2.3 Nonlinear State-Variable Systems 31
Continuous-Time Systems 31
Discrete-Time Systems 35
2.4 Nonlinear Systems and Equilibrium Points 36
2.5 Vector Spaces, Norms, and Inner Products 39
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Copyright © 2004 by Marcel Dekker, Inc.
