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Robotics
Designing Robots With Care
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control of robot manipulators in joint space
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YAMAHA CARTESIAN ROBOT XY-X series Users Manual
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anatomy of a robot charles m bergren
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algorithmics for robot swarms david peleg
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mechatronic systems devices design control operation and monitoring
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arduino robotics john-david warren
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Table of Content
arduino robotics john-david warren
Chapter 1: The Basics
Electricity
Electrical Analogy
Electrical Basics
Circuits
Measuring Electricity
Multi-Meters
Measuring Voltage
Measuring Amperage
Measuring Capacitance
Measuring Resistance
Calculating Resistor Power Using Ohm’s Law
Oscilloscope
Loads
Electrical Connections
Electronics
Semi-Conductors
Datasheets
Integrated Circuits
Through-Hole Components
Arduino Primer
Arduino Variants
Arduino IDE
The Sketch
Signals
Building Circuits
Circuit Design
Schematics
Prototyping
Building a Robot
Hardware
Materials
Work Area
Summary
Chapter 2: Arduino for Robotics
Interfacing Arduino
Relays
Transistors
Interfacing a Motor-Controller
User Control
Tethered (Wired) Control
Infrared Control (IR)
Radio Control Systems
Sensor Navigation
Contact Sensing
Distance and Reflection Sensing
Orientation (Positioning)
Non-Autonomous Sensors
Summary
Chapter 3: Let’s Get Moving
Electric Motors
Brushed DC Motor (Permanent Magnet Type)
Brushless Motors
Stepper Motors
Gear Motors
Servo Motors
Linear Actuators
Calculating Power
Driving
Finding the Right Motor
The H-Bridge
Generating a Brake
Implementation
H-Bridge ICs
Changing PWM Frequencies
Back EMF
Current Sensing
Commercial H-Bridges (Motor-Controllers)
Batteries
Nickel Cadmium (NiCad)
Nickel Metal Hydride (NiMH)
Lithium Polymer (LiPo)
Lead-Acid
Charging
Materials
Wood
Metals
Nuts and Bolts
Plastics
Chain and Sprockets
Wheels
Summary
Chapter 4: Linus the Line-Bot
Parts List for Linus
How Linus Works
The Track
Building the IR Sensor Board
Modifying a Servo for Continuous Rotation
Method 1: Direct DC Drive with External Speed Controller
Method 2: Servo Pulse Drive with Internal Motor Driving Circuitry
Fitting the Drive wheels
Making a Frame
Making Connections
Installing Batteries
Install Power Switch
Loading the Code
Making the Track
Testing
Add-ons
LED Lights
Painting
Adding Speed Regulator (Potentiometer)
Summary
Chapter 5: Wally the Wall-Bot
How Wally Works
Parts List for Wally
The Motor-Controller
The High-Side Switches
The Low-Side Switches
Building the Circuit
Building the Frame
Installing the Sensors
Installing the Battery and Power Switch
Installing a Power Switch
The Code
Code Objectives
Summary
Chapter 6: Making PCBs
PCB Basics
What You Need to Get Started
Circuit Design
Searching for Open-Source Designs
Making Your Own Designs
Working with the Schematic Editor
Working with the Board Editor
Transferring the Design
Let’s Make an Arduino Clone: the Jduino
Making the Transfer
Etching
Measuring the Solution
Etching: Method 1
Etching: Method 2
Removing the Toner
Drilling
Soldering
Building the Arduino Clone
Building the BJT H-Bridge
Testing
Summary
Chapter 7: The Bug-Bot
Reading a Switch with Arduino
How the Bug-bot Works
Antennae Sensors
Bumper Sensors
Parts List for the Bug-bot
The Motors
Modifying the Servo Motors
Controlling the Servo Motors
Converting the Pulse Value to Degrees
Mounting the Wheels to the Servos
Building the Frame
Marking the PlexiGlass
Cutting the PlexiGlass
Mounting the Motors
Mounting the Caster Wheels
Mounting the Arduino
Installing the Battery
Making the Sensors
The Front Antennae Sensors
The Rear Bump Sensors
Making Wire Connections
Loading the Code
Creating a Delay
Variables
The Code
Making a Top Hat
Summary
Chapter 8: Explorer-Bot
How the Explorer-Bot Works
R/C Control
Powerful Motors
Current Sensing
Video-Enabled
Xbee-Enabled
Parts List for the Explorer-Bot
Building the Frame
Specs
Adding Battery Bracket
Cut Top Frame Brackets
Cut Top Frame Braces
Cut and Bend Main Frame Piece
Add Crossbar and Mount Caster Wheel
Building the Motor Controller
Current Sensing and Limiting
H-bridge Design
Setting Up the Arduino
Connecting the H-Bridges
Setting Up Xbee
Testing the Xbees
Adding a Camera
Pan and Tilt
Make First Bracket
Make Second Bracket
Loading the Code
Summary
Chapter 9: RoboBoat
Some Words in Advance
Parts List for the RoboBoat
Polystyrene Foam
Epoxy Resin
Gloves
Fiberglass Fabric
Glue
Styrofoam Cutter and Razor Knife
Miscellaneous
The RoboBoat Design
Assembling the Boat
The Templates
Gluing the Templates on the EPS/XPS Board
Cutting Out the Segments
Gluing the Segments Together
Inserting the Foam Anchors
The Coating
Applying the Finish
The Fins
Painting
The Deck
Completing the Assembly
The Propulsion Assembly
The Baseplate
The Pivot
The Tube
The Rudder Horns
The Motor
The Servo
The Pushrods
Electronics
The Heart of the System: The ArduPilot PCB
The GPS Module
The Electronic Speed Controller (ESC)
The Motor
The Rudder Servo
The Battery Pack
Assembling the Electronics
Software and Mission Planning
GPS Receivers
The Software
Installing the Software
Mission Planning
Putting It All Together
Integrating the System
Ships Ahoy!
Troubleshooting
The Thrust of the Motor/Propeller Is Not Sufficient
The Motor Does Not Start
Summary
Chapter 10: Lawn-Bot 400
How the Lawn-bot 400 Works
Lawn Mower Deck
High-Capacity Batteries
Steel Frame
Dump-Bucket
Pneumatic Tires
Headlights
Failsafe
Tools and Parts List
Lawnmower
Parts Lists
The Wheels
Front Caster Wheels
Rear Drive Wheels
Installing Sprockets
The Frame
The Drive-Train
Motor Mount Brackets
Installing the Chain
The Motor Controller
Buying a Motor Controller
Cooling Fans
Motor Controller feedback
The Arduino
Securing Connections for a Bumpy Ride
The Failsafe
R/C Toggle Switch
Power Relays
Avoiding an R/C Failsafe
Making Connections
The Code
Adding Cosmetics and Accessories
Painting
Headlights
Dump Bucket
Lawnmower Kill-Switch
Summary
Chapter 11: The Seg-Bot
How the Seg-Bot Works
Inertial Measurement Unit
Steering and Gain
Engage Switch
Parts List for the Seg-Bot
Selecting the Right Sensors
33v Power
Accelerometer
Gyroscope
Gyroscope Versus Accelerometer Summary
Filtering the Angle
Making the IMU Adapter Board
Selecting the Motors
Electric Brake Removal
Motor Mounting Position
Selecting the Motor Controller
SoftwareSerial Library
Sabertooth Simplified Serial
The Batteries
Sealed Lead-Acid
Charging
12v Supply
The Frame
Frame Design
Building the Frame
Inputs
Steering
Gain
Engage Switch
Level-Start
Mounting the Inputs to the Frame
Installing the Electronics
Soldering the Inputs
Wiring the Connections
Reviewing the Code
The sample_accel() Function
The sample_gyro() Function
Checking the Angle Readings
The calculate_angle() Function
The read_pots() Function
The auto_level() Function
The update_motor_speed() Function
The time_stamp() Function
The serial_print_stuff() Function
The Full Code
Testing
Summary
References
Chapter 12: The Battle-Bot
Robotic Combat Is Born
Battle-Bot Rules and Regulations
No Price Limit!
Parts List for the Battle-Bot
Input Control
Fly Sky CT-6: The $32, 5-ch*, 24GHz Radio Alternative
The Electronics
The Arduino
The Motor Controllers
The Frame
To Buy or Build?
Modifying the Wheels
Building the Frame
The Drive Train
Gearing
Chain Tensioning Nut
Batteries
Securing Electronics
Protecting Your Brains
Making Connections
The Code
Armor
Weapons
Additional Information
Summary
Chapter 13: Alternate Control
Using Processing to Decode the Signals
Parts List for Alternate Control
Selecting the Input
Processing Prerequisites
Following Protocol
Examining the Processing Sketch
Explanation
Testing Processing
Examining the Arduino Sketch
Summary
Index
Page 4 of 5
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