xii Brief Contents Unit I Principles of Robotics 1 Introduction to Robotics . . . . . . . . . . . . . . . . . . . . .2 2 Fundamentals of Robotics. . . . . . . . . . . . . . . . . . .16 3 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48 4 Robot Programming . . . . . . . . . . . . . . . . . . . . . . .64 5 Industrial Applications . . . . . . . . . . . . . . . . . . . . .84 Unit II Power Supplies and Movement Systems 6 Electromechanical Systems. . . . . . . . . . . . . . . . . 118 7 Fluid Power Systems . . . . . . . . . . . . . . . . . . . . . .164 Unit III Sensing and End-of-Arm Tooling 8 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .234 9 End Effectors . . . . . . . . . . . . . . . . . . . . . . . . . . .270 Unit IV Control Systems and Maintenance 10 Computer Systems and Digital Electronics. . . . .286 11 Interfacing and Vision Systems . . . . . . . . . . . . . .324 12 Maintaining Robotic Systems . . . . . . . . . . . . . . .336 13 Robots in Modern Manufacturing. . . . . . . . . . . .354 14 Robotic Applications and Innovations. . . . . . . . .368 15 Designing and Constructing a Robot . . . . . . . . .382 Math Skills Handbook. . . . . . . . . . . . . . . . . . . . . . . .410 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .436 Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .453