Robotic Explorations A Hands-on Introduction to Engineering

by Martin, Fred G.

• ISBN13: 9780130895684
• ISBN10: 0130895687
• Edition: 1st
• Format: Paperback
• Copyright: 2019-11-19
• Publisher: Pearson

Summary

This hands-on, introductory book is based on widely available, custom robotics materials (Handy Board, Interactive C, LEGO Technic).Covers sensors; motors, gears, and mechanism; control; handy board design; construction techniques; DC Motor; and more.Ideal as an introduction to electrical engineering or capstone design. Also appropriate for readers interested in electrical technology robotics.

Table of Contents

Acknowledgments	ix
Introduction	1	(19)
Feedback Control, Cybernetics, and Robotics	1	(3)
Toys to Think With	4	(8)
LEGO/Logo	9	(1)
The Programmable Brick	10	(1)
The MIT 6.270 Robot Design Competition	11	(1)
About the Technology	12	(5)
The Handy Board	12	(3)
Interactive C	15	(1)
LEGO® Technic®	16	(1)
An Overview of the Book	17	(3)
A First Robot	20	(76)
Interactive C and the Handy Board	20	(8)
Interactive C Prompt	21	(1)
Motors	22	(1)
Sensors	23	(2)
Files and Functions	25	(1)
The Main Function	26	(2)
The HandyBug	28	(43)
HandyBug 9645	28	(22)
HandyBug 9719	50	(21)
A First Program	71	(3)
Plugging in Motors and Sensors	72	(1)
Obstacle Avoidance	72	(1)
Obstacle-Avoidance Exercises	73	(1)
Turtle Movements	74	(1)
Turtle Movement Exercises	74	(1)
Braitenberg Vehicles	74	(12)
One Motor and One Sensor	74	(2)
Two Motors and Two Sensors	76	(3)
Multisensor Vehicles	79	(1)
Light Sensors	80	(1)
Coding Braitenberg Vehicles	80	(6)
Light and Touch Sensitivity	86	(1)
Light and Touch Exercises	86	(1)
Randomness	87	(3)
Random Exercises	90	(1)
Emergence and Meta-Sensing	90	(5)
Emergence	90	(1)
Meta-Sensing	91	(3)
Emergence and Meta-Sensing Exercises	94	(1)
Conclusion	95	(1)
Sensors	96	(43)
Sensor Interfacing	96	(5)
Digital Inputs	96	(3)
Analog Inputs	99	(1)
Ohm's Law	99	(2)
Ohm's Law Exercise	101	(1)
Building Sensors	101	(3)
Connector Wiring	101	(2)
Sensor Mounting	103	(1)
Switch Sensors	104	(4)
Switch Sensor Construction	105	(2)
Switch Sensor Applications Examples	107	(1)
Light Sensor Circuits	108	(7)
The Single-Photocell Circuit	108	(3)
The Differential Photocell Sensor	111	(3)
Polarized Light Seeking	114	(1)
Resistive Position Sensors	115	(4)
Bend Sensors	116	(1)
Potentiometers	116	(3)
Reflective Optosensors	119	(9)
Applications	120	(1)
Interfacing	121	(2)
Building It	123	(2)
Correcting for Ambient Light	125	(2)
Exercises and Projects	127	(1)
Break-Beam Sensors	128	(3)
Interfacing	130	(1)
Building the Break-Beam Sensor	130	(1)
Object Detection	130	(1)
Break-Beam Exercises	131	(1)
Shaft Encoding	131	(8)
Counting Encoder Clicks	132	(3)
Driver Software	135	(2)
Measuring Velocity	137	(2)
Motors, Gears, and Mechanism	139	(40)
DC Motors	139	(4)
Exercises	140	(3)
Gearing	143	(3)
Exercise	146	(1)
Electronic Control	146	(7)
The H-Bridge Motor Driver Circuit	146	(1)
Enable and Direction Logic	146	(3)
Active Braking	149	(1)
Speed Control	150	(1)
Handy Board Implementation	150	(3)
Exercises	153	(1)
The Servo Motor	153	(6)
The Servo Control Signal	155	(2)
Generating the Control Waveform	157	(1)
Continuous Rotation	158	(1)
Exercises	158	(1)
LEGO Design	159	(20)
Structure	159	(3)
Gearing	162	(8)
Mechanism	170	(8)
Exercises	178	(1)
Control	179	(50)
Simple Feedback Control	179	(8)
Wall Following	180	(4)
Gentle Turning Algorithm	184	(1)
Exercises	184	(3)
Proportional-Derivative Control	187	(8)
Proportional Control	188	(5)
The Derivative Term	193	(2)
Exercises	195	(1)
Sequential Control	195	(17)
The Robo-Pong Contest	196	(3)
Sequential Strategies	199	(4)
Exercise: Groucho's Program	203	(2)
Exit Conditions	205	(6)
Exercise: Groucho with Timeouts	211	(1)
Reactive Control	212	(16)
A Priority-Based Control Program	213	(7)
How the Prioritization Algorithm Works	220	(4)
Using Reactive Control	224	(2)
Exercises: Reactive Control	226	(2)
Conclusion	228	(1)
Advanced Sensing	229	(81)
Quadrature Shaft Encoding	229	(10)
Construction Notes	231	(2)
Driver Code	233	(5)
Using the Driver	238	(1)
Quadrature Encoder Exercises	238	(1)
Infrared Sensing	239	(39)
Modulation and Demodulation	240	(3)
Proximity Sensing	243	(1)
Using Proximity Sensors	243	(2)
IR LED Exercises	245	(1)
Advanced IR Proximity Sensing	246	(11)
Infrared Communications	257	(21)
Ultrasonic Distance Sensing with the Polaroid 6500	278	(9)
Connection Diagram	281	(1)
Basic Driver Code	282	(3)
Driver with Close-Up Capability	285	(1)
A Test Routine	286	(1)
Converting Time Measurements to Actual Distance	287	(1)
Sonar Exercises	287	(1)
Optical Distance Sensing with the Sharp GP2D02	287	(7)
Connection Diagram	288	(1)
Construction Notes	289	(1)
Sensor Communications Timing	290	(1)
Driver Code	290	(3)
Optical Ranging Exercises	293	(1)
Sensor Data Processing	294	(16)
Line Following as a Reference Activity	294	(1)
Fixed Thresholding	295	(1)
Parameterized Fixed Thresholding	295	(1)
Thresholding with Hysteresis	295	(2)
Calibration by Demonstration	297	(1)
Persistent Calibration	297	(1)
Sensor Histories	298	(12)
A Inside the Handy Board Design	310	(70)
Introduction to Microprocessors and the 68HC11	310	(14)
Bits, Bytes, and Characters	310	(2)
Memory Map	312	(2)
Registers	314	(1)
Evaluation Sequence	315	(1)
Machine Code Versus Assembly Language	315	(1)
Addressing Modes	316	(2)
Data Types	318	(1)
Arithmetic Operations	318	(1)
Signed and Unsigned Binary Numbers	319	(1)
Condition Code Register and Conditional Branching	320	(1)
Stack Pointer and Subroutine Calls	321	(1)
Interrupts and Interrupt Routines	322	(2)
Introduction to Assembly Language Programming	324	(9)
Development Cycle	324	(1)
Write the Source Code	324	(2)
Assemble the Source Code	326	(2)
Download the Object File	328	(1)
Run the Program	329	(1)
Delay Loops and Subroutines	329	(2)
Digital Sensors and the User Buttons	331	(2)
The 68HC11 with the Handy Board Hardware	333	(43)
Architecture of the 68HC11	333	(2)
Microprocessor and Memory	335	(3)
Peripherals	338	(11)
Analog Inputs	349	(1)
The Serial Line Circuit	350	(7)
The Infrared Transmission Circuit	357	(2)
The LCD Display	359	(5)
Piezo Beeper and Interrupt Routines	364	(8)
Power and Battery Charging	372	(4)
The AS11 Assembler	376	(2)
Labels	376	(1)
Arithmetic Expressions	376	(1)
Assembler Pseudo-Operations	377	(1)
Comments	378	(1)
Differences Between A and E Series 68HC11 CPUs	378	(2)
B Construction Techniques	380	(8)
DC Motor	380	(3)
Motor Compatibility	380	(1)
Motor Wiring	381	(1)
Interfacing Hobby Motors to the LEGO Technic System	381	(2)
Servo Motors	383	(2)
Electrical Interface	383	(1)
Continuous Rotation	383	(2)
Infrared Sensor and Transmitter	385	(1)
LEGO Adapter Cables	386	(2)
C Serial Communications and Data Collection	388	(7)
Serial Line Interaction	388	(2)
Connecting to a Terminal Program	390	(1)
Printing to the Serial Line	391	(2)
Exercises	393	(1)
Capturing Data	393	(2)
Exercises	393	(2)
D Handy Board Specification	395	(8)
Specifications	395	(1)
Ports and Connectors	396	(2)
Battery Maintenance	398	(1)
Battery Charging	398	(1)
Adapter Specifications	398	(1)
Part Listing	399	(1)
Printed Circuit Board Layouts	400	(3)
Handy Board Component Side	400	(1)
Handy Board Solder Side	401	(1)
Handy Board Silkscreen	402	(1)
E Interactive C Reference	403	(30)
Quick Start	403	(1)
6811 Downloaders	403	(2)
Overview	403	(1)
Putting the Handy Board into Bootstrap Download Mode	404	(1)
MS-DOS	404	(1)
Windows 3.1 and Windows 95	404	(1)
Macintosh	404	(1)
Unix	405	(1)
Interactive C	405	(28)
Using IC	406	(1)
A Quick C Tutorial	407	(2)
Data Types, Operations, and Expressions	409	(3)
Control Flow	412	(1)
LCD Screen Printing	413	(2)
Arrays and Pointers	415	(2)
Library Functions	417	(4)
Multitasking	421	(2)
Floating Point Functions	423	(1)
Memory Access Functions	424	(1)
Error Handling	424	(1)
Binary Programs	425	(6)
IC File Formats and Management	431	(1)
Configuring IC	431	(2)
F Robot Contests	433	(17)
Introduction	433	(2)
Why Robot Contests?	433	(1)
Why Not Contests?	433	(1)
Types of Contests	434	(1)
Social Message	435	(1)
Sample Contests	435	(9)
Kick the Can	435	(2)
Robo-Golf	437	(2)
Robo-Pong	439	(2)
Egg Hunt	441	(3)
Contest Rule Analysis	444	(5)
Materials	444	(1)
Design	445	(1)
Robot Size	446	(1)
Multiple-Robot Entries	446	(1)
Creativity Rule	447	(1)
Starting the Round	447	(1)
Robot Beaconing	447	(1)
Playing Field Features	448	(1)
Practical Concerns	449	(1)
Conclusion	449	(1)
G Resources	450