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Table of Contents
Unit I—Principles of Robotics
Chapter 1: Introduction to Industrial Robotics ........................................11
1.1 Early Robots ......................................................................................................12
Robots in Literature • The Advent of Computers
1.2 Evolution of Industrial Robots ...........................................................................14
Early Industrial Robots
1.3 What Is an Industrial Robot?.............................................................................17
1.4 Types of Automation .........................................................................................18
Hard Automation • Flexible Automation
1.5 Are Robots a Threat? ........................................................................................21
Chapter 2: Fundamentals of Robotics ...................................................23
2.1 Parts of a Robot ................................................................................................24
Controller • Manipulator • End Effector • Power Supply • Means for
Programming
2.2 Degrees of Freedom ........................................................................................ 30
2.3 Classifying Robots........................................................................................... 34
Type of Control System • Type of Actuator Drive • Shape of Work
Envelope
Chapter 3: Programming the Robot .......................................................59
3.1 The Evolution of Programming ......................................................................... 60
First Generation • Second Generation • Third Generation
3.2 Motion Control ..................................................................................................63
Pick-and-Place Motion • Point-to-Point Motion • Continuous-Path
Motion
3.3 Programming Methods .....................................................................................67
Manual Programming • Using a Teach Pendant • Walk-Through
Programming • Using a Computer Terminal
3.4 Programming Languages ........................................................................70
3.5 Types of Programming.............................................................................73
Hierarchical Control Programming • Task-Level Programming
3.6 Voice Recognition ....................................................................................77