Embedded systems and robotics with open source tools

202 Pages·2016·7.251 MB·English

by  Dey, Nilanjan, Mukherjee, Amartya

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
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Library of Congress Cataloging-in-Publication Data
Names: Dey, Nilanjan, 1984- author. | Mukherjee, Amartya.
Title: Embedded systems and robotics with open source tools / Nilanjan Dey and
Amartya Mukherjee.
Description: Boca Raton : CRC Press, 2016. | Includes bibliographical references and
index.
Identifiers: LCCN 2015042967 | ISBN 9781498734387
Subjects: LCSH: Autonomous robots. | Embedded computer systems--Programming. |
Open source software.
Classification: LCC TJ211.495 .D485 2016 | DDC 006.2/2--dc23
LC record available at http://lccn.loc.gov/2015042967
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In loving memory of the
late Mihir Kumar Mukherjee

When the tools of production are available to everyone, everyone
becomes a producer.
—Chris 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