Robotic Systems : From Modelling to Construction

The book covers two distinct areas: The development of mathematical models and controlling algorithms for the common types of robots and the practical work involved in the construction of robotic systems. Worked examples, exercises and design projects are featured as well.

Euan McGookin is a Senior Lecturer in the Department of Aerospace Engineering at the University of Glasgow. His research and teaching interests cover the fields of robotics, simulation, optimisation, dynamics and control. He has published a large number of papers and supervised many projects in these areas. Prior to his academic career, Professor McGookin worked for the Defence Evaluation and Research Agency in the UK. His duties involved the design and construction of control systems and simulation models of gas turbine engines. This continued some of the work he undertook for his Ph.D. in marine vehicle nonlinear control optimisation and his M.Eng. studies into nonlinear controller design for submarine guidance and navigation. Both projects involved collaboration between the University of Glasgow and the Norwegian University of Science and Technology, Trondheim, Norway.

Kevin James Worrall is a researcher in the Faculty of Engineering at the University of Glasgow. He received his B.Eng. (Hons) in Electronic and Electrical Engineering from the University of Glasgow and an M.Sc. in Robotics and Embedded Systems from Essex University where he also received an EPSRC grant to study. The time between these two degrees was spent working in a start-up company as an electronic engineer. His current research interests include mobile robotics, heuristic methods and their application to multi-agent systems and the development of systems for AUVs.

Chris Watts is a researcher in the Faculty of Engineering at the University of Glasgow. He obtained an M.Eng. in Electronics and Electrical Engineering from the University of Glasgow in 2005. His M.Eng. placement was with Honeywell where he worked on embedded systems for controllers. He is currently researching Biomimetic Propulsion Systems for Autonomous Underwater Vehicles and he continues to have a strong interest in embedded systems and robotics.

Chapter 1: A Brief History of Robotic Systems: from Asimov to Asimo
1.1 What is a Robotic System?
1.2 Historical Robots
1.3 Asimov and the Laws of Robotics
1.4 Classifications
1.5 Industrial Robotics
1.6 Robot Superstars
1.7 Robots on the move
1.8 Robots in the home
1.9 Biomimetic Robots
1.10 Book outline
Chapter 2: Actuation and Propulsion Systems
2.1 Actuation and Propulsion: Robotic Foundation
2.2 Electromechanical Actuators
2.3 Pneumatic Actuators
2.4 Hydraulic Actuators
2.5 Ground Based Propulsion
2.6 Underwater Based Propulsion
2.7 Air Based Propulsion
2.8 Exercises
Chapter 3: Kinematics and Dynamics of Robot Manipulators
3.1 Modelling Robot Manipulators
3.2 Types of Robot Manipulators
3.3 Multiple Degrees of Freedom Kinematics
3.4 Manipulator Statics and Dynamics
3.5 Model Representation
3.6 Exercises
Chapter 4: Kinematics and Dynamics of Mobile Robotic Systems
4.1 Modelling Mobile Robotic Systems
4.2 Types of Mobile Robotic Systems
4.3 Generic Euler Angle Kinematics
4.4 Generic Rigid Body Dynamics
4.5 Dynamics of Ground Based Robotic Systems
4.6 Dynamics of Underwater Robotic Systems
4.7 Dynamics of Air Based Robotic Systems
4.8 Model Representation
4.9 Exercises
Chapter 5: Sensor Systems
5.1 Giving Sense to Robotic Systems
5.2 Sensor Characteristics
5.3 Position Sensors
5.4 Proximity Sensors
5.5 Motion Sensors
5.6 Force and Pressure Sensors
5.7 Temperature Sensors
5.8 Light Sensors
5.9 Sensor Specification
5.10 Exercises
Chapter 6: Inertial Measurement for Robotic Systems
6.1 Approaches to Inertial Measurement
6.2 Accelerometers
6.3 Gyroscopes
6.4 Inertial Measurement Units
6.5 MEMS Inertial Measurements
6.6 Vision Based Measurements
6.7 Exercises
Chapter 7: Controller Design for Robotic Systems
7.1 Basics of Automatic Control
7.2 Control Methodologies
7.3 Digital Control Design
7.4 Control of Robot Manipulators
7.5 Control of Ground Based Robotic Systems
7.6 Control of Underwater Based Robotic Systems
7.7 Control of Air Based Robotic Systems
7.8 Exercises
Chapter 8: Guidance and Navigation
8.1 Robots Finding Their Way
8.2 Path and Trajectory Planning
8.3 Basic Navigation Principles
8.4 Automated Route Planning
8.5 Obstacle Avoidance
8.6 Exercises
Chapter 9: Hardware Implementation Considerations
9.1 Putting Robots Together
9.2 Motor Control
9.3 Microcontrollers and Microprocessors
9.4 Sensor Fusion
9.5 Signal Transmission and Conditioning
9.6 Power
9.7 Projects
Chapter 10: Robotic System Design and Construction
10.1 Building Your Own Robot
10.2 Design Project for Robot Manipulator
10.3 Design Project for Ground Based Robotic System
10.4 Design Project for Underwater Based Robotic System
10.5 Design Project for Air Based Robotic System
10.6 Further Projects
Bibliography
Appendices