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1、INDUSTRIALROBOTSPROGRAMMING:BUILDINGAPPLICATIONSFORTHEFACTORIESOFTHEFUTUREINDUSTRIALROBOTSPROGRAMMING:BUILDINGAPPLICATIONSFORTHEFACTORIESOFTHEFUTUREJ.NorbertoPiresMechanicalEngineeringDepartmentUniversityofCoimbra,PortugalSpriinger/.NorbertoPiresMechanica
2、lEngineeringDepartmentUniversityofCoimbraPortugalIndustrialRobotsProgramming:BuildingApplicationsfortheFactoriesoftheFutureLibraryofCongressControlNumber:2006932582ISBN0-387-23325-3e-ISBN0-387-23326-1ISBN9780387233253Printedonacid-freepaper.©2007SpringerS
3、cience+BusinessMedia,LLCAllrightsreserved.Thisworkmaynotbetranslatedorcopiedinwholeorinpartwithoutthewrittenpermissionofthepublisher(SpringerScience+BusinessMedia,LLC,233SpringStreet,NewYork,NY10013,USA),exceptforbriefexcerptsinconnectionwithreviewsorscho
4、larlyanalysis.Useinconnectionwithanyformofinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynowknoworhereafterdevelopedisforbidden.Theuseinthispublicationoftradenames,trademarks,servicemarksandsimilarte
5、rms,eveniftheyarenotidentifiedassuch,isnottobetakenasanexpressionofopinionastowhetherornottheyaresubjecttoproprietaryrights.987654321springer.comDedicatedtothememoryofmyfatherJoaquimandtoDina,Rita,BeatrizandOlimpia.ForewordRobotshavetraditionallybeenusedt
6、oworkinindustrialenvironments,astheyconstitutethemostflexibleexistingautomationtechnology.Intherecentyears,manufacturingsystemsarebecomingmoreautonomousrequiringlessoperatorinterventionandahigherdegreeofcustomizationandreconfigurabilityfordisparateapplica
7、tions.Inthisscenario,robotprogrammingisakeyfactortowardbuildingtheapplicationsforthefactoriesofthefuture.ThisbookbyJ.NorbertoPiresconstitutesauniqueandauthoritativereferenceinourprofessionalfield,asoneoftheveryfewbookswrittenbyanacademicwithastrongindustr
8、ialcut.Thefocusisonthesoftwareinterfacesenablinghumansandmachinestoeffectivelycooperateontheshopfloor.Severalsensorsandcontrollersareanalyzedindetail,leadingtotherealizationofinterfacedevicesusinge.g.speechrecogniti
