Robot Programming: A Guide to Controlling Autonomous Robots - Cameron Hughes, Tracey Hughes

The contents

Introduction - the Beginning of an adventure with the robots (11)

• We start working with robots (11)
• Ready for transmission, start! Sharp riding without hands (12)
• Basics with a robot (13)
• The main methods of robot programming presented in this book (13)
• The basic universal mechanism explaining - PUMT (14)
• Intelligent network robots (ISR) (15)
• Assumptions about robots belonging to the reader (16)
• As Midamba learned to program the robot (17)

1. What really is a robot? (19)

• Seven criteria (20)
• Criteria # 1: Definition of variables (20)
• Criteria # 2: Programmable actions and behaviour (20)
• Criteria # 3: Responding to environmental variables, and the interaction with the environment (21)
• Criterion # 4: power Source (21)
• Criteria # 5: the Language in which are stored instructions and data (21)
• Criteria # 6: Autonomy without help from the outside (21)
• Criterion No. 7: the Robot is not a living organism (22)
• Category of robots due to work environment (22)
• What is the sensor? (25)
• What is the cylinder? (26)
• What is end effector? (27)
• What is the microcontroller? (28)
• Which scenario of the robot? (32)
• Issuing instructions to the robot (34)
• Each robot speaks in some language (34)
• The solution to the problem of the incompatibility of human language and language understandable to the robots (35)
• Team scenario of the robot in a visual programming environment (38)
• Problems Midamby (39)
• What's next? (40)

2. Vocabulary robots (43)

• Why the use of these languages requires effort? (43)
• Define the steps (49)
• The ontology model of the programming language, Autonomous robots (49)
• The potential of robot (51)
• The roles of robots in different situations and scenarios (52)
• What's next? (54)

3. Visual planning scenario of the robot (57)

• The script mapping of the robot (58)
• Create a plan for jobs (59)
• The situation of the robot (61)
• Description of the attributes of the operating environment of the robot (63)
• Visual planning scenario of the robot using pseudocode and flowcharts (66)
• The control flow and control structures (70)
• Subroutine (74)
• State diagram of the robots and objects (76)
• Creating state diagram (78)
• What's next? (82)

4. Check the real capabilities of the robot (83)

• Check the actual capabilities of the microcontroller (85)
• Testing the actual performance of the sensors (89)
• Determining the limitations of the sensors of the robot (91)
• Definition of end effector constraints (93)
• Evaluation of the effectiveness of the robot (96)
• What's next? (98)

5. Sensors under a magnifying glass (99)

• To detect the sensors? (99)
• Sensors analog and digital (103)
• Reading of analog and digital signals (104)
• The output signal of the sensor (106)
• Where are the readings? (107)
• Sensors active and passive (108)
• The relationship between the sensors and mikrokontrolerami (110)
• The attributes of the sensors (114)
• Range and resolution (114)
• The accuracy and precision (116)
• Linearity (117)
• Calibration of the sensors (118)
• The problems associated with sensors (119)
• The process of user calibration (119)
• Calibration methods (120)
• What's next? (121)

6. The programming of the sensors (123)

• The use of the color sensor (124)
• Modes color sensors (126)
• Detection range (126)
• The light in the robot's workspace (127)
• Calibration of the color sensor (128)
• Programming the color sensor (129)
• Detection and tracking of objects using a digital camera (132)
• Tracking color objects using equipment of the company RS Media (132)
• Tracking color objects using the Pixy image sensor (136)
• To teach Pixy object detection (137)
• Programming the Pixy camera (138)
• Analysis of attributes (141)
• Ultrasonic sensor (142)
• Limitations and accuracy of the ultrasonic sensor (142)
• Modes of operation of the ultrasonic sensor (147)
• Reading samples (147)
• The data types used to store values read by the sensors (148)
• Calibration of ultrasound sensor (148)
• Programming the ultrasonic sensor (150)
• Compass sensor that determines the return of robot (159)
• Programming the compass (161)
• What's next? (163)

7. Programming motors and servomotors (165)

• Actuators transducers output (165)
• The parameters of the engine (166)
• Voltage (166)
• Amperage (166)
• Speed (166)
• Torque (167)
• Electrical resistance (167)
• Different types of DC motors (167)
• DC motors (167)
• Torque and speed of rotation (171)
• Engines with gearboxes (172)
• Configuration motor: direct and indirect all-wheel drive system (182)
• The problems associated with the terrain (184)
• How to cope with problems related to the field (184)
• Torque, and mechanical arms and end effectors (187)
• The calculation of the torque requirements and speed of rotation (188)
• The engines and the efficiency of the robot (189)
• Programming the motion of the robot (190)
• How many engines? (191)
• The execution of movements (192)
• Programming movements (192)
• Programming the motors to move to a certain place (197)
• Programming motors driven by Arduino (203)
• Mechanical arms and end effectors (205)
• The types of mechanical hands (205)
• Torque is a mechanical manipulator (208)
• The types of end effector (210)
• Programming a mechanical manipulator (212)
• Calculations related to kinematyką (216)
• What's next? (220)

8. The beginning of work on autonomy: creating a software robot (221)

• First look at the software of Autonomous robots (223)
• Section Parts (225)
• In The Events Section (225)
• The Tasks Section (226)
• In Scenarios and situations (226)
• The model of the ontology language, frame work and project documentation software robot (226)
• The mechanism explaining PUMT converts frame software classes (228)
• Our first approach for programming and Autonomous robot (239)
• What's next? (240)

9. Working conditions work (241)

• The robot has to check the environmental characteristics (242)
• Advanced scenario the robot (242)
• Elements that affect the efficiency of the robot (244)
• What happens if the conditions of provisional or final? (249)
• What actions I can choose in the event the conditions of provisional or final? (249)
• Analysis of the conditions for the final initialization of the robot (250)
• Preconditions and end of the loading process (251)
• Coding check the conditions of preliminary and final (252)
• Where are the background and end? (257)
• The test environmental conditions using sensors and visual plans for the scenario of the robot (261)
• What's next? (262)

10. Programming Autonomous robots and technology STORIES (263)

• It is not just actions! (264)
• Party on birthday - the approach 2. (264)
• STORIES (265)
• Advanced scenario the robot (267)
• Conversion of the script work work on equipment components Unit1 STORIES (267)
• Ontologia of the script under a magnifying glass (267)
• Paying attention to the intentions of the robot (278)
• Programming, object-oriented and productivity (297)
• What's next? (298)

11. As Midamba programmed my first Autonomous robot? (299)

• Midamba and his initial scenario (299)
• Midamba during one of the evening will be a programmer! (299)
• Step 1.: The scenario of robots in the store (302)
• Step 2.: Vocabulary and ontology model language work in the first case, work at the factory (303)
• Step 3.: Visual planning the first scenario, the work done at the factory (305)
• Visual timetable schemes of work from the point of view of the robot (305)
• Improved the first scenario of robots on the plant (307)
• A block diagram, which is an element of a visual scenario planning of the robot (308)
• The statechart included in the visual plan of the script of the robot (316)
• Check environmental conditions robots Unit1 and Unit2 (317)
• Autonomous robots help Midambie to get out of depression (329)
• What's next? (332)

12. Open robots COROY (333)

• Cheap, open and simple robots (333)
• Programming, based on a scenario and security and the responsibility of the programmer (335)
• Robots COROU for each (335)
• Recommendations for individuals programming the robot for the first time (338)
• Full plans for the scenario of the robot, components of technology, HISTORY and script source code of robots Midamby (338)

Glossary (339)

Reference (343)