Anatomy of a Robot

Charles M. Bergren0071429301, 0071416579, 9780071429306, 9780071416573

This work looks under the hood of all robotic projects, stimulating teachers, students, and hobbyists to learn more about the gamut of areas associated with control systems and robotics. It offers a unique presentation in providing both theory and philosophy in a technical yet entertaining way.

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Table of contents :
Cover……Page 1
CONTENTS……Page 6
PREFACE……Page 10
INTRODUCTION……Page 12
PROJECT MANAGEMENT……Page 16
Project Management……Page 17
Project Process Flowchart……Page 18
The User s Manual for the Boss……Page 20
The User s Manual for PMs……Page 21
Conclusion……Page 32
CONTROL SYSTEMS……Page 34
Distributed Control Systems……Page 37
Open- Loop Control……Page 39
Closed- Loop Control……Page 41
Designing the Control System……Page 54
Notes on Robot Design……Page 65
Multivariable Control Systems……Page 73
Time……Page 82
Space……Page 84
COMPUTER HARDWARE……Page 88
Leverage Existing Technology……Page 90
Computer Architecture……Page 92
Robot s Computer Hardware……Page 128
Reliability……Page 138
Safety……Page 143
Environmental Considerations……Page 147
Common Sense……Page 150
Emissions……Page 153
Quality Issues……Page 158
Testing……Page 159
Power……Page 162
Automation……Page 163
ENERGY AND POWER SYSTEMS……Page 168
Energy……Page 169
Energy Sources……Page 172
Considerations……Page 174
Energy Conservation……Page 177
Hardware Considerations……Page 179
Spy- hopping……Page 191
Energy Control……Page 193
for Energy Control……Page 198
DIGITAL SIGNAL PROCESSING ( DSP)……Page 206
Sampling Theorem……Page 207
A/ D Conversion……Page 213
A/ D Dithering……Page 215
Antialias Filters……Page 216
D/ A Effects: Sinc Compensation……Page 222
DSP Filter Design……Page 223
Physical Implementation of DSP Filters……Page 230
Multirate DSP……Page 235
COMMUNICATIONS……Page 236
OSI Seven- Layer Model……Page 239
Physical Layer……Page 241
Baseband Transmission……Page 243
Modulated Communications……Page 247
Error Control……Page 253
Shared Access……Page 273
Compression……Page 280
Encryption and Security……Page 281
Popular Communication Channels……Page 284
AC Motors……Page 290
DC Motors……Page 291
Exotic Motors……Page 294
MECHANICS……Page 296
Materials……Page 297
Some Cautions……Page 300
Static Mechanics……Page 302
Dynamic Mechanics……Page 303
INDEX……Page 308