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Learning Robotics Using Python - Lentin Joseph

Learning Robotics Using Python - Lentin Joseph

Index: KSZ-06825 EAN: 9788328323452
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Book available only in Polish. Translation: Radoslaw Meryk. Publisher: Helion. The book presents methods of robot programming using the Python language.

Learning Robotics Using Python - Lentin Joseph
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Book available only in Polish!

Description

Robotics is becoming increasingly important, thanks tothe robots that appear increasingly in our daily life. The science behind building and programming robotsis fairly complex, but fascinating area. Its development requires a certain amount of time, however, to create easy-to-use interface, you can use several utilities (for example, usingminicomputer Raspberry Pi) in Python. Thus, you can design the behavior of the robot, specify how it was going to reach the target, react to the signals of the surrounding world, or forced to wait for instructions.

 

Thanks to the information contained in this book you will learn how to:

  • Build autonomous mobile robots

  • Use the frameworks

  • Step by step build a robot servant, ChefBot

  • Operate the sensors

  • Implement artificial intelligence

  • Test and calibrate the robot

 

Excerpt from the book forreading on-line.
 

The contents

About the author (11)

About recenzentach (13)

Preface (15)

Chapter 1. Introduction to robotics (19)

  • What is a robot? (20)
    • History of the term "robot" (20)
    • The modern definition of a robot (22)
  • Where did the robot? (25)
  • What you can find in the work? (28)
    • The physical body (29)
    • Sensors (29)
    • Effectors (29)
    • The controller (30)
  • As we build the robot? (31)
    • A jet (31)
    • Management of hierarchical (deliberatywne) (31)
    • Control hybrid (32)
  • Total (33)

Chapter 2. Design mechanics of robot maintenance (35)

  • Demands for robot services (36)
  • The drive mechanism of the robot (36)
    • The choice of engines and wheels (36)
    • Summary of the project (38)
    • The design of the chassis of the robot (38)
  • Installing software LibreCAD, Blender and MeshLab (40)
    • The installation of the program LibreCAD (40)
    • Installation of Blender (40)
    • The installation of the program MeshLab (41)
  • Creating 2D CAD drawing of the robot using the program LibreCAD (41)
    • The project of the Foundation plate (43)
    • The project poles to the system Board (44)
    • The design of the wheels, engine and engine mounting brackets (45)
    • The design of the castor wheels (47)
    • Project middle plate (47)
    • The design of the upper plate (48)
  • Work with the 3D model of the robot using the program Blender (48)
    • Using Python scripts in Blender (49)
    • Introduction to the Python API of Blender (50)
    • The model scenario of the robot in Python (51)
  • Questions (56)
  • The result (56)

Chapter 3. Simulation of the robot using the ROS and Gazebo (59)

  • Modeling of the robot (59)
    • Mathematical modeling of the robot (62)
    • Introduction to ROS and Gazebo (69)
    • Installation of the system ROS Indigo in Ubuntu 14.04.2 (72)
    • Modeling robots ChefBot and TurtleBot in the environment of the hotel (96)
  • Questions (100)

Total (101)

Chapter 4. The equipment design work ChefBot (103)

  • Technical characteristics of the equipment, work ChefBot (104)
  • The block diagram of the robot (104)
    • The motor and the encoder (104)
    • The engine control unit (106)
    • Charge the built-in controller (109)
    • The ultrasonic sensors (110)
    • Inercyjna the measuring unit (112)
    • Kinect (113)
    • The Central computing unit (114)
    • Speakers and microphone (115)
    • Power source (battery) (115)
  • Job description equipment work ChefBot (115)
  • Questions (118)
  • Summary (118)

Chapter 5. Actuators and position sensors of the wheels (119)

  • The connection of the gear motor DC controller with Tiva C LaunchPad (120)
    • The wheeled robot with differential drive (122)
    • Installing the IDE Energy (123)
    • The interface code (126)
  • Connect the encoder to the controller kwadraturowego Tiva C LaunchPad (130)
    • Data processing the encoder (131)
    • Code interface enkoderem kwadraturowym (134)
  • Working with aktuatorami Dynamixel (137)
  • Questions (140)
  • Total (141)

Chapter 6. The use of sensors (143)

  • Ultrasonic distance sensors (143)
    • Connect the module HC-SR04 controller with Tiva C LaunchPad (144)
  • Distance sensors for infrared (149)
  • Inertial measurement units (IMU) (152)
    • Navigation inercyjna (152)
    • Connect the sensor MPU 6050 controller with Tiva C LaunchPad (154)
    • The interface code in the medium Energy (156)
  • Code sensor interface MPU 6050 with the Launchpad controller using DMP in the environment Energy (159)
  • Questions (164)

Chapter 7. The programming of the sensor signal using a Python system and ROS (165)

  • List of vision sensors for robot and libraries of image processing (166)
  • Introduction to OpenCV, OpenNI and PCL (169)
    • What is OpenCV? (170)
    • What is OpenNI? (174)
    • What is PCL? (175)
  • Programming Kinect using Python using ROS, OpenCV and OpenNI (176)
    • How to run the OpenNI driver? (176)
    • The ROS interface to the OpenCV library (177)
  • Processing of point clouds using Kinect, ROS and system libraries OpenNI and PCL (182)
    • Open the device and create a cloud of points (182)
  • The transformation of the point cloud in the lidar data (183)
  • Use the methods of the HELMET system ROS and a Kinect sensor (185)
  • Questions (186)
  • Total (186)

Chapter 8. The recognition and synthesis of speech using the system Python and ROS (187)

  • Speech recognition (188)
    • A block diagram of a speech recognition system (188)
    • Library speech recognition (189)
    • Windows Speech SDK (190)
    • Speech synthesis (190)
    • Libraries for speech synthesis (191)
  • The recognition and synthesis of speech in Ubuntu 14.04.2 using Python (192)
    • The configuration of the Pocket Sphinx library and its Python wrapper on Ubuntu 14.04.2 (192)
    • Use wrappera library Pocket Sphinx for Python on Ubuntu 14.04.2 (193)
    • Output (194)
  • Speech recognition in real time using Pocket Sphinx library, GStreamer framework and Python on Ubuntu 14.04.2 (195)
  • Speech recognition using Julius and Python on Ubuntu 14.04.2 (198)
    • Installing the speech recognition Julius Python and module (198)
    • Client code Python-Julius (199)
    • Improving the accuracy of speech recognition with Pocket Sphinx and Julius (200)
    • Setting of synthesizer eSpeak and Festival on Ubuntu 14.04.2 (201)
  • The recognition and synthesis of speech using Python in Windows (202)
    • Install the microsoft Speech SDK (202)
  • Speech recognition in the system ROS Indigo using Python (203)
    • Install the pocketsphinx package on the system ROS Indigo (203)
  • Speech synthesis in the system ROS Indigo using the Python language (204)
  • Questions (206)
  • Total (206)

Chapter 9. The use of mechanisms of artificial intelligence in the work ChefBot using Python (207)

  • A block diagram of a communication system in the work ChefBot (208)
  • Introduction to AIML (209)
    • Introduction to AIML markup (209)
  • Introduction to PyAIML (212)
    • Install PyAIML module in Ubuntu 14.04.2 (213)
    • Install PyAIML module from source code (213)
  • Processing the AIML format with Python (213)
    • Download one AIML file using a command-line argument (215)
  • The use of AIML file robot A. L. I. C. E. (216)
    • Download of the AIML file to the memory (216)
    • Download AIML files and save them to files .brn (217)
    • Download files and AIML files .brn using the method of bootstrap (218)
  • Integration of the library PyAIML control ROS (219)
    • aiml_server.py (219)
    • aiml_client.py (220)
    • aiml_tts_client.py (221)
    • aiml_speech_recog_client.py (221)
    • start_chat.launch (223)
    • start_tts_chat.launch (223)
    • start_speech_chat.launch (223)
  • Questions (225)
  • Total (225)

Chapter 10. Equipment integration and programming of the robot ChefBot using Python (227)

  • Construction equipment work ChefBot (228)
  • PC setting, work ChefBot and installation of the system ROS (232)
  • The interface sensors of the robot controller ChefBot with the Tiva C LaunchPad (233)
    • Built-in robot code ChefBot (234)
  • Driver system ROS for robot ChefBot in Python (236)
  • The boot files of the system ROS for robot ChefBot (241)
  • The use of boot files and components of the robot ChefBot using Python (242)
    • The use of the SLAM algorithm in the ROS system to build a map of the premises (248)
    • Location and navigation in the system ROS (250)
  • Questions (251)
  • Total (251)

Chapter 11. Designing GUI for a robot using Qt libraries and Python (253)

  • Installing Qt framework on Ubuntu 14.04.2 LTS (254)
  • Use wrappera Qt framework to the Python programming language (254)
    • PyQt (255)
    • PySide (255)
  • The usage of the wrapper PyQt and PySide (256)
    • Introduction to Qt Designer (256)
    • Signals and slots are Qt (258) Convert the UI file to code in Python (260)
    • Add definitions slot PyQt code (260)
    • Run a GUI app Hello, world (262)
  • Graphical interface of the robot control ChefBot (263)
    • The installation and use of program rqt in Ubuntu 14.04.2 LTS (269)
  • Questions (271)
  • Total (271)

Chapter 12. Calibration and testing of the robot ChefBot (273)

  • Sensor calibration the Xbox Kinect using the ROS system (273)
    • Calibration of the RGB camera of the Kinect sensor (274)
    • Calibration of the infrared camera of the Kinect sensor (277)
  • Calibration odometrii wheels (279)
    • Error analysis odometrii wheels (279)
    • Error correction (280)
  • Calibration of the sensor MPU 6050 (281)
  • Testing the robot with a GRAPHICAL user interface (282)
    • The advantages and disadvantages of navigating the system ROS (285)
  • Questions (285) Resume (285)

Glossary (287)
Book - Author Earl Boysen, Nancy C. Muir
Book - ISBN 978-83-246-9830-1
Book - Binding Miękka
Book - Publisher Helion
Package width 0.001 cm
Package height 0.001 cm
Package depth 0.001 cm
Package weight 0.001 kg
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