Practical Robot Design: Game Playing Robots, 1st Edition (Hardback) book cover

Practical Robot Design

Game Playing Robots, 1st Edition

By Jagannathan Kanniah, M. Fikret Ercan, Carlos A. Acosta Calderon

CRC Press

418 pages | 293 B/W Illus.

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pub: 2013-10-17
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Description

Designed for beginners, undergraduate students, and robotics enthusiasts, Practical Robot Design: Game Playing Robots is a comprehensive guide to the theory, design, and construction of game-playing robots. Drawing on years of robot building and teaching experience, the authors demonstrate the key steps of building a robot from beginning to end, with independent examples for extra modules. Each chapter covers basic theory and key topics, including actuators, sensors, robot vision, and control, with examples and case studies from robotic games. Furthermore, the book discusses the application of AI techniques and provides algorithms, and application examples with MATLAB® code.

The book includes:

  • Comprehensive coverate on drive motors and drive motor control
  • References to vendor websites as necessary
  • Digital control techniques, with a focus on implementation
  • Techniques for designing and implementing slightly advanced controllers for pole-balancing robots
  • Basic artificial intelligence techniques with examples in MATLAB
  • Discussion of the vision systems, sensor systems, and controlling of robots

The result of a summer course for students taking up robotic games as their final-year project, the authors hope that this book will empower readers in terms of the necessary background as well as the understanding of how various engineering fields are amalgamated in robotics.

Table of Contents

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

About the Authors

Muhammet Fikret Ercan and Jagannathan Kanniah are both with Singapore Polytechnic, Singapore.

Subject Categories

BISAC Subject Codes/Headings:
SCI041000
SCIENCE / Mechanics / General
TEC007000
TECHNOLOGY & ENGINEERING / Electrical
TEC008000
TECHNOLOGY & ENGINEERING / Electronics / General