Embedded systems and robotics with open source tools

198 Pages·2016·4.53 MB·English

by  Dey

Engineering – Electrical M Embedded Systems
u
kD
he
ey
Embedded Systems and Robotics with Open Source Tools r
je
e
provides easy-to-understand and easy-to-implement guidance for
rapid prototype development. Designed for readers unfamiliar with and Robotics with
advanced computing technologies, this highly accessible book: E
m
b
• Describes several cutting-edge open-source software
e
and hardware technologies d Open Source
d
e
• Examines a number of embedded computer systems and
d
their practical applications
S
y
• Includes detailed projects for applying rapid prototype s Tools
t
development skills in real time e
m
s
Embedded Systems and Robotics with Open Source Tools
a
effectively demonstrates that, with the help of high-performance n
d
microprocessors, microcontrollers, and highly optimized algorithms,
R
one can develop smarter embedded devices. o
b
o
t
i
c
s

w
6000 Broken Sound Parkway, NW i
t
Suite 300, Boca Raton, FL 33487
h
711 Third Avenue
New York, NY 10017 O
an informa business
2 Park Square, Milton Park
www.crcpress.com Abingdon, Oxon OX14 4RN, UK p
e
n

S
K26364
o
ISBN: 978-1-4987-3438-7 u
90000 r
c
e

T
9 781498 734387 Nilanjan Dey
o
w w w.c rc p r e s s .co m o
l
s
Amartya Mukherjee
K26364 cvr mech.indd 1 2/17/16 3:24 PM
Embedded Systems
and Robotics with
Open Source Tools

Embedded Systems
and Robotics with
Open Source Tools
Nilanjan Dey
Amartya Mukherjee
CRC Press
Taylor & Francis Group
6000 Broken Sound Parkway NW, Suite 300
Boca Raton, FL 33487-2742
© 2016 by Taylor & Francis Group, LLC
CRC Press is an imprint of Taylor & Francis Group, an Informa business
No claim to original U.S. Government works
Version Date: 20160301
International Standard Book Number-13: 978-1-4987-3440-0 (eBook - PDF)
This book contains information obtained from authentic and highly regarded sources. Reasonable efforts
have been made to publish reliable data and information, but the author and publisher cannot assume
responsibility for the validity of all materials or the consequences of their use. The authors and publishers
have attempted to trace the copyright holders of all material reproduced in this publication and apologize to
copyright holders if permission to publish in this form has not been obtained. If any copyright material has
not been acknowledged please write and let us know so we may rectify in any future reprint.
Except as permitted under U.S. Copyright Law, no part of this book may be reprinted, reproduced, transmit-
ted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented,
including photocopying, microfilming, and recording, or in any information storage or retrieval system,
without written permission from the publishers.
For permission to photocopy or use material electronically from this work, please access www.copyright.
com (http://www.copyright.com/) or contact the Copyright Clearance Center, Inc. (CCC), 222 Rosewood
Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and
registration for a variety of users. For organizations that have been granted a photocopy license by the CCC,
a separate system of payment has been arranged.
Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used
only for identification and explanation without intent to infringe.
Visit the Taylor & Francis Web site at
http://www.taylorandfrancis.com
and the CRC Press Web site at
http://www.crcpress.com
In loving memory of the
late Mihir Kumar Mukherjee

When the tools of production are available to everyone, everyone
becomes a producer.
ÐChris Anderson

Contents
Preface .....................................................................................................................xv
Acknowledgments .............................................................................................xvii
Authors .................................................................................................................xix
1. Introduction .....................................................................................................1
1.1 Embedded Systems and Robotics .......................................................1
1.2 Fundamental Goal of Embedded Systems ........................................1
1.3 Fundamental Goal of Robotics ............................................................2
1.4 Main Focus .............................................................................................2
1.5 Motivation ..............................................................................................3
1.6 How to Use This Book ..........................................................................3
2. Basics of Embedded Systems .......................................................................5
2.1 Introduction ...........................................................................................5
2.2 Classifications of Embedded Systems ................................................5
2.3 Microprocessors ....................................................................................6
2.4 Microcontrollers ....................................................................................8
2.5 Application-Specific Processors ..........................................................9
2.6 Sensors and Actuators ........................................................................11
2.6.1 Sensors .....................................................................................11
2.6.2 Examples of Sensors ..............................................................11
2.7 Embedded Communication Interface ..............................................12
2.7.1 I2C Communication ..............................................................12
2.7.2 SPI and SCI Communication ................................................13
2.7.3 UART Communication ..........................................................13
2.7.4 USB Communication .............................................................14
2.8 Real-Time Operating Systems ...........................................................15
2.8.1 Hard Real-Time System .........................................................15
2.8.2 Soft Real-Time System ...........................................................16
2.8.3 Thread-Oriented Design .......................................................16
2.9 Typical Examples.................................................................................16
2.9.1 Smartphone Technology .......................................................16
2.9.2 Aircraft Autopilot Unit..........................................................17
3. Basics of Robotics ........................................................................................19
3.1 Introduction .........................................................................................19
3.2 Robot Kinematics ................................................................................19
3.3 Degree of Freedom ..............................................................................20
3.4 Forward Kinematics ...........................................................................22
3.5 Algebraic Solution ...............................................................................22
ix