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Jingdong book

机器人系统设计及应用

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Books Computers & Internet Artificial Intelligence

Jingdong book

机器人系统设计及应用

Name: 机器人系统设计及应用
Brand: Jingdong book
SKU: 3118002351
Price: 31.36 USD
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《机器人系统设计及应用》是我国目前市场上较少的机器人专业图书之一，作者是中国科学院沈阳自动化研究所的郭彤颖教授，在机器人方面做了多年的研究，并参与许多相关的项目，积累了大量的经验。郭彤颖教授的《机器人系统设计及应用》一书的内容主要涉及了机器人的设计及应用两个方面。设计部分简明概括，易于理解，其内容包括机器人运动机构、执行机构、感知系统、控制系统的设计，以及机器人的运动学和动力学的相关知识；应用部分全面生动，实例丰富，主要介绍了工业机器人、移动机器人、特种机器人、服务机器人的应用实例。《机器人系统设计及应用》将现有的机器人技术介绍的非常详细和全面，尤其是介绍了大量典型的机器人工程应用实例，实用性非常强，相信对从事机器人行业的技术人员能产生好的帮助和启发。

Content Description

本书系统地介绍了机器人学的基础知识和工作原理，以及设计与应用实例。全书共分8章。主要内容有机器人的定义与分类、基本组成，机器人的技术参数、移动机构和传动机构，机器人的运动学和动力学，机器人的轨迹规划，焊接、喷漆、装配、洁净与真空机器人、移动式搬运机器人等工业机器人的设计与应用，点焊、弧焊机器人工作站的设计与应用，后介绍了具有实时显示速度、自动寻迹、避障以及可遥控行驶等功能的智能车的硬件及软件设计实例。

本书可作为科研工作者和工程技术人员的参考书，也可以作为控制科学与工程、计算机科学与技术等学科研究生或高年级本科生的教材。

Author Description

郭彤颖，沈阳建筑大学，副教授，博士毕业于中国科学院沈阳自动化研究所，具有多年在机器人控制及其相关领域的教学和科研经验，先后在国内外重要期刊及学术会议上发表论文与机器人相关论文30余篇，其中EI检索论文10余篇，主持和参加20余项省部级科研项目，具有丰富的实际工程经验。

Catalogue

第1章绪论001
1.1机器人的定义与分类001
1.1.1机器人的定义001
1.1.2机器人的分类002
1.2机器人系统的基本组成006
1.2.1机构006
1.2.2驱动系统006
1.2.3感受系统006
1.2.4控制系统009
1.2.5人机交互系统011
1.2.6机器人环境交互系统011
1.3机器人系统的设计方法011
1.4机器人的应用012
第2章机器人的技术参数和机构022
2.1机器人的技术参数022
2.2机器人的移动机构024
2.2.1车轮型移动机构024
2.2.2履带式移动机构026
2.2.3腿足式移动机构028
2.2.4其他形式的移动机构028
2.3机器人的传动机构029
2.3.1丝杠传动029
2.3.2带传动与链传动030
2.3.3齿轮传动机构031
2.3.4谐波传动机构034
2.3.5连杆与凸轮传动035
第3章机器人的运动学036
3.1位置与姿态的描述036
3.2坐标变换038
3.3齐次坐标变换040
3.4机器人正向运动学044
3.4.1正向运动方程的变换矩阵044
3.4.2正向运动方程的求解047
3.5机器人逆向运动学051
3.5.1逆向运动学问题的多解性与可解性051
3.5.2逆向运动方程的求解052
3.6移动机器人的运动学模型060
第4章机器人的动力学063
4.1拉格朗日法063
4.2机器人动力学方程066
4.2.1n自由度机器人操作臂动力学方程066
4.2.2机器人操作臂动力学方程系数的简化069
4.2.3考虑非刚体效应的动力学模型070
4.3动力学仿真071
第5章机器人的轨迹规划072
5.1关节空间描述与直角坐标空间描述072
5.2轨迹规划的基本原理073
5.3关节空间的轨迹规划076
5.4直角坐标空间的轨迹规划081
第6章工业机器人的设计与应用084
6.1焊接机器人084
6.1.1点焊机器人084
6.1.2弧焊机器人087
6.2喷漆机器人095
6.2.1液压喷漆机器人096
6.2.2电动喷漆机器人097
6.3装配机器人099
6.3.1装配机器人的系统组成099
6.3.2装配机器人的常用传感器100
6.3.3装配机器人的多传感器信息融合系统106
6.4洁净机器人与真空机器人106
6.4.1洁净环境和真空环境107
6.4.2洁净机器人107
6.4.3真空机器人108
6.5移动式搬运机器人109
6.5.1自动导引小车系统的组成110
6.5.2自动导引小车的导引方式111
第7章工业机器人工作站的设计与应用114
7.1机器人的应用工程114
7.2机器人工作站的一般设计原则115
7.3点焊机器人工作站120
7.3.1点焊机器人工作站的基本组成120
7.3.2简易点焊机器人的应用121
7.4弧焊机器人工作站122
7.4.1弧焊机器人工作站的基本组成122
7.4.2简易弧焊机器人工作站的编程与控制122
第8章自主移动机器人应用实例124
8.1单片机基础知识124
8.2单片机常用开发软件126
8.3系统硬件设计133
8.3.1直流调速模块133
8.3.2蓝牙遥控模块135
8.3.3红外避障模块136
8.3.4摄像头循迹模块137
8.3.5光电测速模块138
8.3.6速度显示模块139
8.4控制方法及程序设计140
8.4.1串口通信程序140
8.4.2判断命令程序140
8.4.3避障程序141
8.4.4光电测速程序设计142
8.4.5循迹程序设计143
8.4.6路径识别方法145
8.4.7控制方法146
参考文献149

Introduction

随着科学技术的发展和社会的进步，机器人已经走进我们的生活、影响着我们的生活。机器人不仅广泛应用于工业生产和制造业领域，而且在航天、海洋探测、危险或恶劣环境，以及日常生活和教育娱乐等领域中获得了大量应用。各种各样的机器人不但已经成为现代高科技的应用载体，而且自身也迅速发展成为一个相对独立的研究与交叉技术，形成了特有的理论研究和学术发展方向。

机器人学涉及机械工程学、电子学、控制科学、计算机科学等众多学科，是一门重要的综合性前沿学科。本书旨在为机械、电子、计算机、控制工程师和工程技术专家，以及研究生或高年级本科生提供的知识。在内容编排方面，注重理论与工程实际的结合、基础知识与现代技术的结合、系统设计与应用的结合。希望大家通过阅读和学习这本书，感受到从事机器人相关研究的乐趣。

本书共分8章，第1章主要讲解机器人的基础知识，包括机器人的定义与分类、机器人系统的基本组成、机器人系统的设计方法和机器人应用；第2章主要介绍机器人的技术参数、机器人的移动机构和传动机构；第3章讲解机器人的运动学；第4章介绍机器人的动力学；第5章介绍机器人轨迹规划的相关知识；第6章列举了焊接机器人、喷漆机器人、装配机器人、洁净机器人与真空机器人、移动式搬运机器人的设计与应用实例；第7章讲解机器人工作站的一般设计原则，并介绍点焊和弧焊机器人工作站的设计与应用实例；第8章以设计具有实时显示速度、自动寻迹、避障以及可遥控行驶等功能的智能车为实例，阐述了其硬件及软件设计。

本书第1、2章由郭彤颖、李征宇编写，第3、4章由郭彤颖、刘冬莉、张凤众、刘淑娟编写，第5章由郭彤颖、张辉、徐力编写，第6、7章由王海忱、郭彤颖编写，第8章由安冬、徐力辉编写。研究生刘伟、高煜晗、陈露等参与了相关章节的资料收集和整理。全书由郭彤颖、安冬统稿。

本书的编写参考了国内外学者的大量论著和资料，谨在此对其作者表示衷心的谢意，并对支持本书编写和出版的所有从业者表示衷心的感谢！

由于机器人技术一直处于不断发展之中，再加上时间仓促、编者水平有限，难以全面、完整地对当前的研究前沿和热点问题一一进行探讨。书中存在不足之处，敬请读者给予批评指正。

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