1st Edition
Practical Robot Design Game Playing Robots
Game Robotics
Introduction
Robotics Games and Engineering Education
Robotic Games in Singapore
Robotic Games around the World
Overview of the Book
Basic Robotics
Introduction to Robotic Systems
Coordinate Transformations and Finding Position of Moving Objects in Space
Wheel Drive in Mobile Robots
Robotic Arms
Sensors
Sensors Used in Game Robotics
Robot Vision
Introduction
Camera Systems for Robotics
Image Formation
Digital Image-Processing Basics
Basic Image-Processing Operations
Algorithms for Feature Extraction
Symbolic Feature Extraction Methods
Case Study Tracking a Colored Ball
Basic Theory of Electrical Machines and Drive Systems
Actuators for Robots
Electrical Actuators
Specific Needs of Robotics Drives
Drive Systems
Motor Power Selection and Gear Ratio Design for Mobile Robots
Gear Ratio for a Mobile Robot
Power Requirement of the Drive Motor
Typical Motor Characteristics Data Sheet
Friction Measurement in a Linear Motion System
First Approach: Gear Ratio Design
Second Approach: System Performance as a Function of Gear Ratio
Gear Ratio Design for Stepper Motors
Design Procedures for Mobile Robot That Are Not Ground Based
Control Fundamentals
Control Theory for Robotics
Types of Plants
Classification Based on Control System
Need for Intelligent Robot Structure
A Typical Robot Control System
Trends in Control
Review of Mathematical Modeling, Transfer Functions, State Equations, and Controllers
Introduction
Importance of Modeling
Transfer Function Models
Steps in Modeling
Some Basic Components Often Encountered in Control Systems
Block Diagram Concepts
Some System Examples
State Equations
Time Domain Solutions Using Transfer Functions Approach
Time Domain Solutions of State Equations
Regulator and Servo Controllers
Digital Control Fundamentals and Controller Design
Introduction
Digital Control Overview
Signal Representation in Digital Systems
Plant Representation in Digital Systems
Closed-Loop System Transfer Functions
Response of Discrete Time Systems, Inverse Z-Transforms
Typical Controller Software Implementation
Discrete State Space Systems
Discrete State Feedback Controllers
Typical Hardware Implementation of Controllers
Case Study with Poll-Balancing and Wall-Climbing Robots
Introduction
Pole-Balancing Robot
Wall-Climbing Robots
Mapping, Navigation, and Path Planning
Introduction
Perception
Navigation
Path Planning
References
Robot Autonomy, Decision-Making, and Learning
Introduction
Robot Autonomy
Decision-Making
Robot Learning
Biography
Muhammet Fikret Ercan and Jagannathan Kanniah are both with Singapore Polytechnic, Singapore.
