Anatomy of a Robot

321 Pages·2003·4.401 MB·English

by  Charles M. Bergren

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ANATOMY OF
A ROBOT
CHARLES M. BERGREN
McGraw-Hill
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DOI: 10.1036/0071429301
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To my son and my wonderful family
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CONTENTS
Preface xv
Introduction xvii
Chapter 1 Project Management 1
Project Management 2
Project Process Flowchart 3
How This Works When It’s Implemented Right 5
The User’s Manual for the “Boss” 5
The User’s Manual for PMs 6
Conclusion 17
Chapter 2 Control Systems 19
Distributed Control Systems 22
Central Control Systems 24
Open-Loop Control 24
Closed-Loop Control 26
Designing the Control System 39
Notes on Robot Design 50
Multivariable Control Systems 58
Time 67
Space 69
Chapter 3 Computer Hardware 73
Leverage Existing Technology 75
Speeding Up Engineering 77
Computer Architecture 77
Process for Choosing a Robot’s Computer Hardware 113
V
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VI CONTENTS
Chapter 4 Reliability, Safety, and Compliance 123
Reliability 123
Safety 128
Environmental Considerations 132
Common Sense 135
Emissions 138
Quality Issues 143
Testing 144
Chapter 5 Design Steps: HLD 147
Power 147
Locomotion 148
Automation 148
Chapter 6 Energy and Power Systems 153
Energy 154
Energy Sources 157
Chapter 7 Energy Control and Software 159
Considerations 159
Energy Conservation 162
Hardware Considerations 164
Spy-hopping 176
Software Considerations for Energy Control 178
Mechanical Considerations:Software for Energy Control 183
Chapter 8 Digital Signal Processing (DSP) 191
The Nyquist-Shannon Sampling Theorem 192
A/D Conversion 198
A/D Dithering 200
Sample and Hold (S/H) 201
Antialias Filters 201
D/A Effects:Sinc Compensation 207
DSP Filter Design 208
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CONTENTS VII
Physical Implementation of DSP Filters 215
Multirate DSP 220
Chapter 9 Communications 221
OSI Seven-Layer Model 224
Physical Layer 226
Baseband Transmission 228
Modulated Communications 232
Error Control 238
Shared Access 258
Compression 265
Encryption and Security 266
Popular Communication Channels 269
Chapter 10 Motors and Actuators 275
AC Motors 275
DC Motors 276
Exotic Motors 279
Chapter 11 Mechanics 281
Materials 282
Some Cautions 285
Static Mechanics 287
Dynamic Mechanics 288
Index 293
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PREFACE
T
wo years ago, I took my six-year-old son to a “robot race” up in the Rockies near
Boulder. It was held in the community center of a small mountain town. Nevertheless,
it was packed with about 100 enthusiastic people and many interesting exhibits. The
central event was to be a timed race along a prescribed course. Several school-aged kids
had entered plastic robots clearly built from parts from the same toy manufacturer. The
racecourse was a plastic mat approximately 15 feet on each side. The robots had to fol-
low a one-inch-wide, serpentine black line on the mat from beginning to end. The win-
ner would be the robot finishing with the fastest time.
I watched the kids tuning up their robots on the racecourse before the race. Each robot
had a sensor on each side that could detect the black line. If the robot moved forward
and started to cross the line, the electronics would correct the steering and move the
robot back on course.
It was clear the kids were all having trouble. None of the robots could follow the
course from beginning to end. They would invariably lurch too far over the black race-
course line and get lost, spinning in useless circles. Legions of adult advisors huddled
with the kids, making all sorts of changes, yet nobody was making progress. To me, the
answer was obvious and I wanted to help.
IX
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