Practical Robot Design : Game Playing Robots book cover
1st Edition

Practical Robot Design
Game Playing Robots

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ISBN 9781439810330
Published October 17, 2013 by CRC Press
418 Pages 293 B/W Illustrations

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Book 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 MATLABĀ® 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
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 Used in Game Robotics

Robot Vision
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
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
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
Pole-Balancing Robot
Wall-Climbing Robots

Mapping, Navigation, and Path Planning
Path Planning

Robot Autonomy, Decision-Making, and Learning
Robot Autonomy
Robot Learning

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