Robotics Part 15 pot

ROBOTICS 338 } displayStatus(“Execution Complete”); closeGFX(); } else if(motion==’c’) { cout<<“\n”; cout<<“\nEnter the Details of the path:-”; cout<<“\nradius=”; cin>>rad; cout<<“velocity=”; cin>>vel; cout<<“angle=”; cin>>angle; initializeGFX(.3,.3); plot(xd,yd,1); plot(q1,q2,0); displayStatus(“Execution Begins”); ang=(pi/180)*angle; delta= atan(l/rad); v=vel; t=(rad*ang)/v; moveVehicle1(delta, v, t, -1); displayStatus(“Execution Complete”); closeGFX(); } } 339 Included on the CD-ROM are simulations, fi gures from the text, third party software, and other fi les related to topics in robotics. See the “README” fi les on the CD-ROM for specifi c information/system requirements related to each fi le folder, but most fi les will run on Windows 2000 or higher and Linux. APPENDIX B A BOUT THE CD-ROM 341 A Accelerometers, 23, 267 Actuators, 129, 130, 131 Analog, 93 Arms, 5, 6 Artifi cial, 1, 12, 13, 20 Artifi cial Intelligence, 12, 13, 16, 20 Assembly, 5, 32, 133 Automation, 13, 16, 22 B Beacon 96, 97, 100, 243, 246, 254, 255, 256, 257, 258, 259, 261, 262 Bevel gears 32, 33, 35, 61 Brain 2, 7, 22 Breadboard 71, 110 C Cams and Cranks 32 Cars 5 Control 8, 18, 23, 35, 88, 107, 111, 112, 114, 153, 156, 176, 179, 180, 182, 183, 184, 188, 190, 194, 204, 205, 292, 295 Coordinate 49, 171, 174, 177, 219, 257 D Data 21, 65, 73, 102, 105, 106, 107, 111, 114, 117, 119, 121, 122, 123, 125, 153, 158, 195, 204, 282, 285, 327 INDEX DC Motors 23, 132 Denavit-Hartenberg Notation 222, 226 Detector 97 Differentially Driven 156 Digital 93 Dynamic 99, 309 E Electronics 9, 69, 117, 153 Emitter 100, 284 Encoders 23, 285, 286, 288 ENIAC 4 Evolutionary 21, 22 Expert Systems 20 F Falcon 253, 254 Feedback 11, 306 Field Effect Transistors 136 Flying Robots 13, 16, 19 Forward Kinematics 23 Four-bar Mechanism 26, 28 Frame 28, 243, 263, 269 Fuzzy 21 G Gaits 18, 304 Genetic Algorithms 22 Gyroscopes 23, 267, 268 ROBOTICS 342 H H-Bridge 137 Helical Gears 34, 35 Holonomic Constraints 165 Honda 7 Humanoid 7 Hydraulic 131 I Industrial Automation 13, 16, 22 Infrared 82, 99, 100, 285 Infrared Sensors 23, 249, 283, 285 Integrated Circuits 9, 65, 81, 85 Interfacing 112, 196, 287 Inverse Kinematics 23 J Joint 53, 168, 242, 277, 292 K Kaman 251, 252 Kinematics 29, 56, 161, 167, 176, 199, 240, 285 L Laser 281, 282 LEDs 75, 81, 82, 90, 107, 110, 125, 126, 283 Legged Robots 13, 16, 17, 291, 293 Light Sensors 96 LORAN 250, 251, 252 M Manipulator 7, 13, 23, 236, 240 Mapping 23, 205, 206, 215, 218, 230, 295 MATLAB 23, 179, 182, 186, 190 Mechanics 9 Mechanisms 29, 43, 54, 295 Microcontroller 126 MIT 11, 12, 13, 14, 250, 261 Mobile Robot 13, 16, 155, 156, 180, 182, 186, 190, 199 Modulated 97, 100 Motors 5, 10, 131, 138, 141, 142, 144, 145, 147, 148, 153, 198 N Nanobots 2 NASA 6, 9, 10, 12, 14 Neural Networks 21 O Optical 97, 99, 243, 244, 245, 247 Outportb 108, 114, 115, 120 P Parallel Axis Gear Trains 37 Parallel Port 105, 110, 120, 151, 196, 202, 207, 287 Phototransistor 98, 99 Pneumatic 126, 129 Potentiometer 72, 73 Pulse 91, 141 Pulse Width Modulation 140, 141 PUMA 5, 7, 230, 231 R Rack and Pinion 30, 33, 34 Radar 3 Radio Communication 12 RAM 112, 124 RF 243, 250, 253, 262, 264, 299, 303 Robotic Arm 16 Robotics 1, 8, 10, 15, 16, 23 Robots 11, 13, 16, 19, 90, 307, 309 Robot Vision 13, 16, 19 ROM 124 Rotation 217 Rovers 9, 10, 11, 14 INDEX 343 S Sensors 6, 11, 19, 23, 92, 93, 96, 100, 102, 282, 283, 287 Serial Communication 117, 121 Serial Port 103, 119, 122, 124, 153 Simulation 182, 193, 292 Slider-crank Mechanism 28, 29, 52 Spur Gears 33 Stairs 7, 15, 292 Static 293, 294 Stepper Motors 144, 145, 147, 149, 200 Surgery 7 T Tracking 176, 282, 311 Trajectory 175, 177, 184, 185, 186, 188, 190, 192, 193, 202 Translation 34 Transponder 261 TURTLE 207, 209, 287 U Ultrasonic 243, 261 Underwater Robots 13, 16, 18 V Vision 13, 20, 283, 292 W Wheeled Mobile Robots 13, 16, 23, 155, 156, 175 WMR 23, 155, 158, 159, 161, 169, 172, 175, 176, 181, 194, 195, 201, 202, 205, 206, 285 Worm and Wheel 36, 61, 62 ROBOTICS ROBOTICS Appin Knowledge Solutions ON THE CD The CD-ROM includes figures, simulations, and other resources SIMULATIONS / TUTORIALS ■ KINEMATICS SIMULATIONS & TUTORIALS John A. MacKinnon, Ph.D. http://www.colba.net/~htran/physics ■ NONHOLONOMIC-WHEEL MOBILE ROBOT (WMR) Tao Gan ■ 3-ROTATIONAL ARM ROBOT Jason Damazo, Walla Walla College ■ SIMPLE ROBOTICS FRAME- WORK FOR RHINO ROBOT V. Gourishankar http://venkata83.com DEMOS ■ PUMA 3D ROBOT DEMO Don Riley, Walla Walla College ■ NEUROS ROBOT DEMO Institut für Neuroinformatik Ruhr-Universität Bochum APPLICATIONS ■ 3D CAD DATA TO MATLAB ® CONVERTER Don Riley, Walla Walla College FIGURES ■ Contains fi gures from the book including four-color fi gures E NGINEERING S ERIES ROBOTICS Appin Knowledge Solutions This up-to-date text/reference is designed to present the fundamental principles of robotics with a strong emphasis on engineering applications and industrial solutions based on robotic technology. It can be used by practicing engineers and scientists—or as a text in standard university courses in robotics. The book has extensive coverage of the major robotic classifi cations, including Wheeled Mobile Robots, Legged Robots, and the Robotic Manipulator. A central theme is the importance of kinematics to robotic principles. The book is accompanied by a CD-ROM with MATLAB ® simulations, photographs, tutorials, and third-party software (see On the CD-ROM section). FEATURES ■ Discusses the major robot classifi cations including Wheeled Mobile Robots, Legged Robots, and the Robotic Manipulator ■ Provides an introduction to basic mechanics and electronics; presents math- ematical modeling concepts; and performs robotic simulations using MATLAB ■ Includes extensive coverage of kinematics—integrated throughout the book whenever appropriate ■ Includes a CD-ROM with demos, MATLAB simulations, photos, and more BRIEF TABLE OF CONTENTS 1. Introduction 2. Basic Mechanics 3. Basic Electronics 4. Wheeled Mobile Robots 5. Kinematics of Robotic Manipulators 6. Classifi cation of Sensors 7. Legged Robots. Appendix. Index. ABOUT THE AUTHOR Appin Knowledge Solutions is an affi liate of the Appin Group of Companies (based in Austin, Texas) and develops software and training products in areas such as information security, nanotechnology, and robotics. All trademarks and service marks are the property of their respective owners. Cover design: Tyler Creative INFINITY SCIENCE PRESS 11 Leavitt Street Hingham, MA 02043 (781) 740-4487 (781) 740-1677 FAX info@infi nitysciencepress.com www.infi nitysciencepress.com ISBN: 978-1-934015-02-5 U.S. $59.95 / Canada $70.95 APPIN KNOWLEDGE SOLUTIONS (from the 3-ROTATIONAL ARM ROBOT) (from the PUMA 3D ROBOT DEMO) (from the SIMPLE ROBOTICS FRAMEWORK FOR RHINO ROBOT) appin_robotics_adj.indd 1appin_robotics_adj.indd 1 6/15/07 12:43:11 PM6/15/07 12:43:11 PM . Mobile Robots 13, 16, 23, 155 , 156 , 175 WMR 23, 155 , 158 , 159 , 161, 169, 172, 175, 176, 181, 194, 195, 201, 202, 205, 206, 285 Worm and Wheel 36, 61, 62 ROBOTICS ROBOTICS Appin Knowledge Solutions ON. 125, 153 , 158 , 195, 204, 282, 285, 327 INDEX DC Motors 23, 132 Denavit-Hartenberg Notation 222, 226 Detector 97 Differentially Driven 156 Digital 93 Dynamic 99, 309 E Electronics 9, 69, 117, 153 Emitter. 148, 153 , 198 N Nanobots 2 NASA 6, 9, 10, 12, 14 Neural Networks 21 O Optical 97, 99, 243, 244, 245, 247 Outportb 108, 114, 115, 120 P Parallel Axis Gear Trains 37 Parallel Port 105, 110, 120, 151 ,