Industrial Robotics Control: Mathematical Models, Software Architecture, and Electronics Design (Maker Innovations Series)

✍ Scribed by Fabrizio Frigeni

• Publisher: Apress
• Year: 2022
• Tongue: English
• Leaves: 641
• Category: Library

✦ Synopsis

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.

✦ Table of Contents

Table of Contents
About the Author
About the Technical Reviewer
Preface
Chapter 1: Industrial Robots
Nomenclature
Mechanical Configurations
Structure of a Robot Control System
Digital Twin
Summary
Part I: Robot Geometry
Chapter 2: Geometrical Framework
Reference Frames
Frame Operations
Frame Translations
Frame Rotations
Properties of a Rotation Matrix
Composing Rotations: Euler Angles
Decomposing a Rotation Matrix
Column Vectors
Expressing Rotations
Combining Translations and Rotations
Example
Inverted Transformation
Summary
Chapter 3: Forward Kinematics
Mechanical Structure
Step-by-Step Solution
Combined Transformation Matrix
Numerical Test
Zero Frame
Tool Frame
Mechanical Coupling
Summary
Chapter 4: Inverse Kinematics
Closed-Form Derivation
Nonlinear Problem
Nonunique Solution
Singularities
IK Step 1: Decoupling
IK Step 2: Solve the Arm
IK Step 3: Solve the Wrist
Numerical Test
Zero Frame
Tool Frame
Mechanical Coupling
Summary
Part II: Robot Movements
Chapter 5: Path-Planning
PTP Movements
Path Movements
Quaternions
SLERP
Line
Circle
Spline
De Casteljau’s Algorithm
Round Edges
Transitions
Path Length
External Path Corrections
Summary
Chapter 6: Workspace Monitoring
Linearization
Safe Zones
Forbidden Zones
Wire-frame Model
Safe Orientation
Self-Collision
Capsules
Exclusive Zones
Collision Detection
Summary
Chapter 7: Trajectory Generator
S-Curve Profile
Sinusoidal Profile
Bezier Profile
Time-Optimal Movements
Differential Kinematics
Path Speed Definitions
Optimal Motion in Practice
Time Filtering
External Path Corrections
Summary
Chapter 8: Statics and Dynamics
Statics
Singularities
Dynamics
Dynamic Model
Lagrangian Method
Newton-Euler Method
Parameters Identification
Torque Feed-Forward
Trajectory Optimization
Teach by Hand
Motor Sizing
Summary
Part III: Robot Software
Chapter 9: Firmware
Human-Machine Interface
Interpreter
Main Controller
Kernel Interface
Servo Drives
Electronic Commutation
Summary
Chapter 10: Calibration
Robot Calibration
Tool Calibration
Cell Calibration
Summary
Chapter 11: Commissioning
Safety
Tuning
Summary
Chapter 12: Simulation
Unity 3D
Building a Scene
Importing CAD Models
Programming Scripts
Communication Functions
User Interface
Machine Learning
Summary
Chapter 13: Machine Vision
Smart Camera
Vision Functions
Deep Learning
Convolutional Networks
Summary
Part IV: Robot Hardware
Chapter 14: Motors
DC Motors
Stepper Motors
Brushless Motors
Linear Motors
Motor Sizing
Summary
Chapter 15: Encoders
Hall Sensors
Quadrature
SSI
Tamagawa
Summary
Chapter 16: Servo Drives
Power Switches
Gate Driver
Current Sensing
Summary
Chapter 17: Power Management
DC Bus Voltage
Protection Functions
Voltage Converter
Summary
Chapter 18: Main Controller
Microcontroller
IOs
Fieldbus
Integrated Solution
Display
Summary
Chapter 19: Fabrication
PCB Design
Mechanics
Summary
Correction to: Industrial Robotics Control
Correction to:
Appendix: Kinematic Models
COBOT
SCARA
PALLETIZER
DELTA
Index