Industrial Robotics Control: Mathematical Models, Software Architecture, and Electronics Design (Paperback)

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.

從自動化工程師的角度，建立一個完整的工業機器人控制系統，學習所有的理論和實用技巧。探索運動學、軌跡和運動控制的細節，然後創建自己的電路板來驅動電動馬達並移動機器人。

在介紹理論後，讀者可以通過為機器人編程控制固件來將所學知識付諸實踐。每個軟件組件都有詳細的描述，從HMI和運動指令解釋器到每個伺服驅動器核心的伺服迴路控制器。特別是，作者介紹了無刷同步馬達的通信算法和伺服迴路控制器，這些通常用於機器人應用。讀者還將學習如何校準機器人，將其交付給最終用戶，並設計一個數字孿生體在安全的模擬環境中測試和監控整個工作單元。

最後，本書深入介紹了硬件，包括如何選擇和使用電動馬達和編碼器，如何構建伺服驅動器和運動控制器，以及如何設計自己的PCB。分析了不同的電子元件及其應用電路，展示了每個電子元件的優點和缺點。

通過閱讀本書，您將能夠設計和構建電子板並編寫其核心固件，以控制各種不同實際應用的工業機器人。

您將學到什麼：
- 解決機器人的運動學模型
- 生成安全路徑和最佳運動軌跡
- 創建機器人的數字孿生體以測試和監控其運動
- 掌握無刷馬達的電子通信和閉迴路控制
- 設計運動應用的電子電路板

適合閱讀對象：
想要了解機器人臂控制背後理論的機器人工程師（和學生），從軸的運動學模型到馬達的電子通信。理解幾何框架需要一些基本的微積分和線性代數知識，而了解電子電路設計的細節需要一些電子基礎知識。

Fabrizio Frigeni is a multi-cultural engineer, hobbyist, teacher and entrepreneur. Hailing from Italy, he holds a degree in Electrical Engineering from the Polytechnic University of Milan; then worked on laser physics for his Master's degree at the University of Illinois at Chicago, USA; and later completed a doctoral degree in microelectronics at the Technical University of Dresden, Germany.

He has gained extensive experience in the fields of automation, robotics, computer vision, and machine learning, while working for several years on assignments in Austria, Brazil, India and China. He has been based in Shanghai since 2009, where he has first managed local engineering teams, and then started his own company to teach, consult, and design control systems for automated machines and robots.

Fabrizio Frigeni是一位多元文化的工程師、業餘愛好者、教師和企業家。他來自意大利，擁有米蘭理工大學的電氣工程學位；在美國伊利諾伊大學芝加哥分校攻讀碩士學位期間，他從事激光物理研究；後來在德國德累斯頓工業大學完成了微電子學的博士學位。

他在自動化、機器人技術、計算機視覺和機器學習領域積累了豐富的經驗，曾在奧地利、巴西、印度和中國等地工作多年。自2009年以來，他一直在上海工作，起初管理當地的工程團隊，後來創辦了自己的公司，從事教學、咨詢和設計自動化機器和機器人的控制系統。