Robotics Books

I am studying robotics. I find this book very useful.

Chapter 6: "Kane's Method in Robotics" introduces KANE method to drive dynamics equations for robotics in detail with example.

Other chapters are well written with C source code. I have not tested these code carefully.

Highly recommend for grad students those have read "Introduction to Robotics" of John Craig, "Dynamics: Theory and Applications" of Thomas R. Kane and David. A Levison.

Most inventions have origins in ancient fantasies and dreams. The dream of the mechanized laborer will create the greatest industrial revolution since the computer mainly the emergence of the robot. The greater the degree of freedom, the more versatile the robot and the less expensive robots have fewer degrees of freedom and are used for less complex tasks. More factories will choose to completely automate their factories by using robots. The Yamazaki Machinery Works factory requires few workers and robots operate independently in the evening with only a security guard supervising security and the company operates on its own assembling component parts for machine tools.

Teaching a robot to work can be much simpler to train than a human. For example, a welding robot can be shown by a master welder a manual technique procedure and the robot can repeat the technique perfectly after with. Robots can learn skills that take humans years to learn.

One of the earliest substitutes of robots for humans was in metal die cast operation, where robots logged over 1 million hours. Also, robots have been used to operate injection molding.

In 1980, 4,500 robots were sold and reaped $100 million. Robots purchases have struggled for 20 years. "High interest rates, uncertainty concerning future tax regulations, and other government controlled or influenced factors inhibit American business from making capital investments in equipment such as robots". Capital investments are not keeping pace with labor costs; there is not enough money. In 1981, sales rose to $155 million with the projected sales of $5 billion by 1992. The majority of robots purchased in 1990 will be assigned to material handling.

The 10 year labor cost increased 250% whereas the cost of manufacturing of a robot only increased 50%. Robots have become more economical. Robot costs will decrease as robots build robots. Fujitsu Franue facility, in Japan, have a company where robots that build robots. As robots begin to use CAD/CAM too solve problems reserved to humans more robust robot designs will emerge and production cost drop. Computer "micro chip" control, of robotic movement has greatly simplified the task of programming robots. Multiple tasks can be programmed and downloaded into the robot and the tasks are very reliable because robots do not vary in they way they work once programmed.

Down time for a robot must be less than 2%. Therefore, robots must have less human intervention too keep operation; software and programming fixes must be remotely downloadable; robots must be connected to central computers that monitor the status of the machine and the robot must have self-diagnosis and the possibility of self-correction. If a robot diagnosis a problem starting too emerge with one of its component, it can broadcast the problem to the central computer and the central computer can have another robot deliver the failing component, replace it, and continue operations. As software scheduling become more real time, redundancy can be built into the operational line allowing a failing robot too be replaced by another robot of equivalent capability through a polling system and logistical arrive on site without congestion the production flow, while the defective robot is repaired. Robot redundancy and self diagnostic will play and important role in preserving uptime. Robot return on investment maximizes when applied to large batch production.

Chuck Schoeffler, Ph.D., designed the original Board of Education Robot (Boe-Bot). After several revisions, Russ Miller incorporated this design into the present Boe-Bot. This robot is manufactured by Parallax, Inc. Parallax's current product line consists of BASIC Stamp microcontrollers (BS2, BS2E, BS2SX, BS2P24, BS2P40, BS2PE, and the BS2PX) and development software, SX chips and programmer/debuggers, project boards, sensors, educational tools, robotics kits, accessories and the Propeller chip (eight 32-bit processors in one chip!).

What is a Board of Education? The Board of Education (or, more simply, the BOE) is a programming board for the BASIC Stamp 2 (BS2) Microcontroller. This board is used extensively in Parallax's "The Stamps in Class" curriculum. As of this writing, there are ten courses in this series. Andy Lindsay's "What's a Microcontroller?" is the prerequisite to all of these courses, but "Robotics with the Boe-Bot" is complete enough that it can be read independently. It should be noted that all of the texts in this series can be downloaded in PDF format from the Parallax website for FREE.

What are the requirements for completing this course? You will need a Boe-Bot Robot Kit. This kit is available in either a "serial" or a "USB" version. This kit contains the following: (1) BOE programming board, (2) serial or USB cable, (3) BASIC Stamp 2 (BS2) Microcontroller, (4) parts (resistors, capacitors, photoresistors, etc.), (5) hardware for building the Boe-Bot robot, (6) CD (contains the BASIC Stamp Editor, etc.), and (7) Lindsay's text. This course costs $149.95. I would also recommend your purchasing the "BASIC Stamp Syntax and Reference Manual" for $24.95. If you already own a BOE programming board, you can turn it into a Boe-Bot robot with the Robotics Parts and Text Kit for $89.95.

What is a Boe-Bot Robot? According to Parallax, "[t]he Boe-Bot robot is built on a high-quality brushed aluminum chassis that provides a sturdy platform for the servo motors and printed circuit board. Mounting holes and slots may be used to add custom robotic equipment. The rear wheel is a drilled polyethylene ball held in place with a cotter pin. Wheels are machined to fit precisely on the servo spline and held in place with a small screw. The Boe-Bot robot's flexibility stems from the fact that it's a rolling Board of Education carrier board. All I/O projects are built on the breadboard." The power source is 4 AA batteries (batteries not included).

What does this text cover? Andy Lindsay wrote versions 2.0, 2.1, and 2.2 of "Robotics with the Boe-Bot." The latest version of this book is 345 pages. The book consists of eight chapters. Each chapter has a number of hands-on activities. These activities will involve you in programming the robot's BS2 microcontroller. You will learn how to control the robot's continuous rotation servos, navigate using tactile whiskers, detect variations in light levels with photoresistors, use infrared LED circuits for detecting objects and determining distances, and so forth. Each chapter ends with a summary, questions, exercises, and projects. There are also extensive appendixes and an index. All of the material in this book is presented in meticulous detail.

Conclusion: This book will NOT cover all of the Parallax BASIC (PBASIC) commands, but it is an excellent introduction to BS2 programming. You do not have to have prior experience in programming or electronics to complete this course, but reading an introductory book on electronics is highly recommended.

Note 1: The publisher, on a scale of 1 to 10, rates this book as having a difficulty level of 5. I concur. The publisher also estimates that it will take you approximately 40 hours to complete this course. I don't concur. If you complete the end-of-chapter questions, exercises, and projects and, in addition, read the appropriate sections in the syntax book, then I estimate it will take you approximately 60 hours to complete this course.

Note 2: In 2005, Lemon Studios, Inc. made a DVD, "Intro to Robotics with the Parallax Boe-Bot," that will take you step-by-step through the assembly and programming of the Boe-Bot (90 min.; $9.95). Highly recommended!

Note 3: In 2003, eyeWyre Corporation created an interactive realtime 3d simulation for the Boe-Bot, SumoBot, and Toddler (the last two robots were add-ons: Sumo eyeON, $19.95; Toddler eyeON, $24.95). The Simulation Studio software sold for $99.95. This was an ambitious undertaking that seems to have been discontinued. Check their website for details. Caveat emptor!

P.S. See my review of Lindsay's "What's a Microcontroller?" for more information on Parallax's "Stamps in Class" curriculum.

This book was published in 1985, and is still in print at the time I am writing this. However, used copies are selling in the dollar range. If you just ignor the parts of the book that talk about robotic applications and industrial trends that have expired long ago and focus on the very useful portions that teach how to perform the calculations for robot motion, this is a very good book. It has many clear examples and explains all of the formulas in a detailed fashion that you don't commonly find in the more expensive modern texts that attempt to explain robot motion along with other related subjects such as computer vision. The prerequisites for understanding this book are the same as for taking an engineering level course in robotics - matrix algebra, elementary calculus, statics, ordinary linear differential equations, and Laplace transforms. Knowledge of dynamics, computer programming, and control theory, while useful, is not really necessary.

Several problems are presented at the conclusion of each chapter, many of which refer to statements made in the textbook. In this way, the reader is encouraged to actively participate in the development of a particular mathematical equation or a specific numerical result. Five appendices are provided to ensure a common level of understanding of a particular subject before it is introduced in the main text. The following is the detailed table of contents:

1. AN OVERVIEW
1.1 A Chronological Perspective
1.2 Statistics
1.3 Classifications
1.4 Technical Disciplines
1.5 Robot Programming Languages

2. FORWARD KINEMATICS
2.1 Orientation Coordinate Transformations
2.2 Configuration Coordinate Transformations
2.3 Denavit-Hartenberg Coordinate Transformations
2.4 D-H Matrix Composition

3. INVERSE KINEMATICS
3.1 Some General Methods
3.2 The Planar Robot
3.3 The Microbot Robot
3.4 The PUMA 560
3.5 The Stanford Manipulator

4. MOTION KINEMATICS
4.1 The Planar Case
4.2 The Three-Dimensional Case
4.3 Some Spherical Wrist Consequences
4.4 The Stanford Manipulator

5. FORCE/TORQUE RELATIONS
5.1 Force/Moment Translations
5.2 A General Force/Torque Relation
5.3 Some Spherical Wrist Consequences

6. TRAJECTORY PLANNING
6.1 Polynomial Paths and Cubic Segments
6.2 Linear Segments with Parabolic Blends
6.3 Coordinated Motion

7. DYNAMICS (KINETICS)
7.1 Lagrange's Equations
7.2 The Microbot Robot
7.3 Inverse Dynamics

8. POSITIONAL CONTROL
8.1 Unity Feedback Systems
8.2 General Performance Measures
8.3 PID Control
8.4 Inverse Dynamic Feedforward Control
8.5 Nonlinear and Two-Part Conrol

Appendix A - Robotic Terms and Definitions
Appendix B - Matrix/Vector Algebra
Appendix C - Trigonometric Abbreviations and Identities
Appendix D - The Laplace Transform
Appendix E - Moments of Inertia of Common Geometric Shapes

This book has changed my life. Sections such as the classifications of different robots, the three laws of robotics, and the section on the growing robot population are essential to anyone who is interested, as i am, in integrating with robots on a large scale. This book can also help the casual robot fan or even those who are not interested in robots become more aware of the fascinating robot culture right underneath their noses. Buy this book and become enlightened as to what robots really mean to todays culture, you will not be disappointed.

"FAST FORWARD" is an innovative new series looking behind the scenes at a wide range of subjects spanning from the Egyptian Pyramids to Natural Disasters and Robotics. This book begins with a single question: "What Are Robots?" and works its way casually through other topics like robot designs for hazardous conditions, the entertainment industry, the medical profession, and even outer space exploration. The book ends with a short glance towards the future and all the wonderful possibilities that await us. Additionally, the author, Mark Bergin, has included a glossary of terms, an index and a short list of "ROBOT FACTS" for easy reference for kids ages 9 - 12.

Bergin is also the illustrator of this fabulously designed book. He has really set himself apart as both an author and illustrator in this series. For the most part, I'd have to say the illustrations are the best part of this book. While the content is educational - the illustrations give this book an edge above the rest I've seen.

Bergin had also been previously commissioned by aerospace companies and has illustrated a number of books including "SPACE SHUTTLE" & "EXPLORATION OF MARS" in the FAST FORWARD SERIES. The author also consulted with Physics & Astronomy Professor, Peter Turvey, who teaches at the University of Lesicester in London, before writing this book.

In 1939--my mom (deceased) and her younger borhter-my uncle (deceased) took train from Ohio to New York to see New York World's fair--my mom and uncle born and raised i9n Mansfield, Ohio--home of Electro the Westinghourse robot at that fair. RECENTLY AN E MAIL FROM MY UNCLE SON WHO IS HELPING HIS OWN SON A HIGH SCHOOL STUDENT DO A ROBOTICS CLASS FOR HIGH SCHOOL GRADUATION CREDIT IN A MIDWEST HIGH SCHOOL--I THEN REMEMBERED MY DECEASED UNCLE AND MY MOM HAD SEEN ELECTRO ROBOT IN ACTION. IN 1939--HOW FITTING MY UNCLE GRANDSON DOING SUCH A PROJECT--RAN INTERNET RE; ELECTRO AND FOUND MANSFIELD, OHIO MUSEUM HAD THIS BOOK--UNCLE GRANDSON CAN USE WITH HIS PROJECT AND A FITTING THING TO REMEMBER HIS DECEASED GRANDDAD WITH, TOO. THE BOOK ORDER ARRIVED PROMPTLY AND IN GOOD CONDITION AND AT PRESENT HELPING A SCHOOL PROJECT AN GIVING INSIGHT AS TO WHAT THIS SCHOOL STUDENT GRANDDAD WOULD HAVE SEEN IN 1939. THANKS FOR HAVING THIS BOOK ON INTERNET!

Robots are getting better. This week the DARPA Grand Challenge awarded $2,000,000 as the grand prize in a trial of autonomous grand vehicle technology. This a test of vehicles that could negeotiate a course across the desert by themselves, that is with no human driver. In these days of roadside bombs in Iraq, the advantages of such a vehicle are obvious.

Up until now this was an impossible task. But a small pickup entered by Stanford Racing Team made it through the course in a winning time of six hours and fifty three minutes.

This book describes the current state of the art in sensing devices, the intelligence to take stock of what they are sensing and then the motion to allow robots to move in a world where the placement of obstacles is random. The book is suitable as a text for graduate and seniour undergraduate level classes. As a research text the book provides the underlying issues and theories for people interested in or working on robot/human interaction.

October 10, 2000 Finally a book that makes understanding all aspects of NFPA 13,13D and 13R easy. Text of the codes appears in black and the helpful explmation text, line drawings and/or photos appears in red. The Editor really focous on the intend and interpertations in which the code was written. This is a must have for system designers, engineers and installers.

Summary of the theory of sliding mode control (SMC) by late 80s'. For higher order nonlinear systes with parametric uncertainties SMC becomes more attractive due to its order reduction and robustness properties. No other control theory book reaches the equivalent deapth of the SMC theory.