Practical and Experimental Robotics

by Sahin; Ferat

• ISBN13: 9781420059090
• ISBN10: 1420059092
• eBook ISBN(s): 9781351835008
• Additional ISBN(s): 9781420059106
• Format: Hardcover
• Copyright: 2007-08-22
• Publisher: CRC Press
• More Book Details

Summary

Taking a completely hands-on approach, using cheap and easily available robotics kits, Practical and Experimental Robotics provides a detailed exploration of the construction, theory, and experiments for different types of robots. With topics ranging from basic stamp microcontrollers to biped and propeller based robots, the text contains laboratory experiments, examples with solutions, and case studies.The authors begin with a review of the essential elements of electronics and mechanics. They describe the basic mechanical construction and electrical control of the robot, then give at least one example of how to operate the robot using microcontrollers or software. The book includes a reference chapter on Basic Stamp Microcontollers with example code pieces and a chapter completely devoted to PC interfacing. Each chapter begins with the fundamentals, then moves on to advanced topics, thus building a foundation for learning from the ground up.Building a bridge between technicians who have hands-on experience and engineers with a deeper insight into the workings, the book covers a range of machines, from arm, wheel, and leg robots to flying robots and robotic submarines and boats. Unlike most books in this field, this one offers a complete set of topics from electronics, mechanics, and computer interface and programming, making it an independent source for knowledge and understanding of robotics.

Table of Contents

Fundamentals of Electronics and Mechanics	p. 1
Fundamentals of Electronics	p. 1
Electrical Components	p. 1
Semiconductor Devices	p. 8
Digital Systems	p. 25
Sequential logic circuits	p. 27
Common Logic IC Devices	p. 31
Practical Electronic Circuits	p. 32
Power	p. 32
Fixed Voltage Power Supplies	p. 35
Adjustable Power Supplies	p. 37
Infrared Circuits	p. 40
Motor Control Circuits	p. 42
Fundamentals of Machines and Mechanisms	p. 45
Simple Machines	p. 45
Mechanisms	p. 51
Gears	p. 51
Chains and Belts	p. 56
Linkages	p. 56
Cam	p. 57
Ratchet Mechanism	p. 57
Quick Return Mechanism	p. 60
Intermittent Motion	p. 60
Springs and Dampers	p. 60
Brakes	p. 62
Clutches	p. 62
Couplers, Bearings, and Other Miscellaneous Items	p. 62
BASIC Stamp Microcontroller	p. 67
Different Versions of BASIC Stamp	p. 67
BASIC Stamp 1	p. 67
BASIC Stamp 2	p. 67
BASIC Stamp 2sx	p. 69
BASIC Stamp 2p	p. 69
BASIC Stamp 2e	p. 71
Development Boards for BS2e	p. 74
BASIC Stamp 2 Carrier Board (Rev. B)	p. 74
BASIC Stamp Super Carrier (Rev. A)	p. 75
Board of Education (Rev. B)	p. 75
BASIC Stamp Activity Board (Rev. C)	p. 75
BASIC Stamp Editor	p. 76
Connecting BS2e to the PC	p. 76
Installing the BASIC Stamp Editor	p. 76
Software Interface for Windows	p. 79
Software Interface for DOS	p. 81
PBASIC Programming Fundamentals	p. 84
Declaring Variables	p. 84
Defining Arrays	p. 85
Alias	p. 85
Modifiers	p. 86
Constants and Expressions	p. 87
BASIC Stamp Math	p. 88
Important PBASIC Commands Used while Interfacing the BS2e with the Lynxmotion 12 Servo Hexapod	p. 90
Debug	p. 92
For...Next	p. 93
End	p. 94
Return	p. 94
Pause	p. 94
Gosub	p. 95
Serout	p. 95
Serin	p. 100
PC Interfacing	p. 103
Parallel Port Interface	p. 103
Port Access Library for Windows XP	p. 106
Hardware Signals	p. 109
PC Interfacing Board	p. 115
Visual Basic Access to Parallel Port	p. 123
Breadboarded Output Circuit	p. 125
Serial Port Interfacing	p. 130
PC to PC Communication	p. 130
PC to Microcontroller Serial Communication	p. 133
USB Interfacing	p. 137
Robotic Arm	p. 139
Construction and Mechanics	p. 141
DC Motor and Gear Box	p. 141
Gear Torques and Speed	p. 143
Gripper Mechanism	p. 145
Wrist Mechanism	p. 147
Elbow and Shoulder Mechanism	p. 149
Robot Base Mechanism	p. 153
Electrical Control	p. 153
Robot Programming	p. 155
Parallel Port Interface Circuit using Relays	p. 158
Code for PC Robotic Arm Control	p. 161
USB Interface using Relays	p. 163
Parallel Port Interface Circuit using Transistors	p. 165
Code for PC Robotic Arm Control	p. 171
Robotic Arm Control	p. 173
Programmed Tasks	p. 173
Encoder Feedback	p. 174
Potentiometer Feedback	p. 182
Joint Control	p. 182
Automatic Control Using a Camera	p. 183
Robot Kinematics	p. 187
Velocity Kinematics	p. 192
Dynamics and Control	p. 193
Some Experiments	p. 193
Control of a Six-Degrees-of-Freedom Arm Robot	p. 194
Mechanical Construction	p. 194
JM-SSC16 Mini Servomotor Controller Board	p. 198
Control Software	p. 198
Forward and Inverse Kinematics	p. 199
Examples and MATLAB Programs	p. 209
DH.m: M-File for a Homogenous Transformation of a Row of a DH Table	p. 209
RobotTF.m: M-File for Calculating the Transformation Matrix of the Robot	p. 211
RobotSym.m: M-File for Symbolic Analysis of Inverse and Forward Kinematics	p. 212
InverseKin.m: M-File for Inverse Kinematics Equations	p. 214
Angle2Servo.m: M-File for converting Joint Angles to Servomotor Values	p. 215
Path.m: M-File for Generating Joint Angles to Move the Robot Linearly	p. 216
A Sample RB File Created by path.m for Mini Servo Explorer	p. 217
Differential Drive Robot	p. 219
Construction and Mechanics	p. 221
Robot Base with Breadboard	p. 221
Traction System	p. 222
Power System	p. 227
Relay Board	p. 229
Basic Robot Movements	p. 229
Timed Movements	p. 234
Robot Timed Movements	p. 239
Infrared Vision-Based Robot (Robot Eyes)	p. 249
Audio Detection and Response (Robot Ears)	p. 252
Sound-Based Robot Movements	p. 260
Robot Speed Control	p. 262
PC Control	p. 265
Feedback Control	p. 266
Robot Kinematics	p. 266
Four Wheel Drive Robot	p. 269
Construction and Mechanics	p. 269
Electrical Control	p. 278
Connecting the OOPic-R with the Rigel 4WD Robot	p. 278
A Review of OOP in Reference to the OOPic-R	p. 282
Important Objects Used While Interfacing the OOPic-R with the Rigel 4WD Robot	p. 285
Sample Code to Drive the Rigel 4WD Robot Using the OOPic-R	p. 295
Hexapod Robot	p. 301
Construction and Mechanics	p. 301
Servomotors	p. 303
Mechanical Construction of Extreme Hexapod II	p. 303
Mechanical Construction of Extreme Hexapod III	p. 322
Electrical Control	p. 339
Lynxmotion 12-Servo Hexapod with BS2e	p. 339
Programming the Hexapod	p. 346
Adjusting Servomotors to Mid Position	p. 353
Biped Robots	p. 359
Bigfoot: The Walker	p. 359
Construction	p. 359
Programming	p. 365
Robot Kinematics	p. 369
The Lynxmotion Biped	p. 370
Leg Assembly	p. 370
Arm Assembly	p. 372
Torso Assembly	p. 372
Hand Assembly	p. 375
Controller	p. 375
The Robosapien Biped	p. 378
Robosapien Motors	p. 382
Walking	p. 382
PC Control	p. 382
Autonomous Robosapien	p. 384
Propeller Based Robots	p. 389
Wings	p. 389
Propellers	p. 391
Robotic Planes	p. 394
RC Planes	p. 394
Manual Control for RC Planes	p. 404
Automatic Controllers for RC Planes	p. 404
Kinematics	p. 406
Robotic Experiments	p. 414
Robotic Helicopter	p. 415
Controlling Movements	p. 415
Automatic Controllers for RC Helicopters	p. 423
Robotic Boats	p. 423
Propulsion	p. 424
Robotic Submarines	p. 427
References	p. 431
Index	p. 434
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