Robot Programming · A Guide to Controlling Autonomous Robots (SHARLA SORGE's Library) by Hughes, Cameron -- Read -- Imperial Library of Trantor

Index

About This E-Book Title Page Copyright Page Contents at a Glance Contents About the Authors Dedication Acknowledgments We Want to Hear from You! Reader Services Introduction: Robot Boot Camp

Robot Programming Boot Camp Ready, Set, Go! No Wires or Strings Attached Boot Camp Fundamentals Core Robot Programming Skills Introduced in This Book

BURT—Basic Universal Robot Translator BRON—Bluetooth Robot Oriented Network

Assumptions About the Reader’s Robot(s) How Midamba Learned to Program a Robot

1. What Is a Robot Anyway?

The Seven Criteria of Defining a Robot

Criterion #1: Sensing the Environment Criterion #2: Programmable Actions and Behavior Criterion #3: Change, Interact with, or Operate on Environment Criterion #4: Power Source Required Criterion #5: A Language Suitable for Representing Instructions and Data Criterion #6: Autonomy Without External Intervention Criterion #7: A Nonliving Machine Robot Categories What Is a Sensor? What Is an Actuator? What Is an End-Effector? What Is a Controller? What Scenario Is the Robot In?

Giving the Robot Instructions

Every Robot Has a Language Meeting the Robot’s Language Halfway How Is the Robot Scenario Represented in Visual Programming Environments? Midamba’s Predicament What’s Ahead?

Code Snippets 2. Robot Vocabularies

Why the Additional Effort? Identify the Actions The Autonomous Robot’s ROLL Model

Robot Capabilities Robot Roles in Scenarios and Situations What’s Ahead?

3. RSVP: Robot Scenario Visual Planning

Mapping the Scenario

Creating a Floorplan The Robot’s World RSVP READ SET

Pseudocode and Flowcharting RSVP

Flow of Control and Control Structures Subroutines

Statecharts for Robots and Objects

Developing a Statechart What’s Ahead?

4. Checking the Actual Capabilities of Your Robot

The Reality Check for the Microcontroller Sensor Reality Check

Determine Your Robot’s Sensor Limitations

Actuators End-Effectors Reality Check REQUIRE Robot Effectiveness

What’s Ahead?

5. A Close Look at Sensors

What Do Sensors Sense?

Analog and Digital Sensors Reading Analog and Digital Signals The Output of a Sensor Where Readings Are Stored Active and Passive Sensors Sensor Interfacing with Microcontrollers Attributes of Sensors Range and Resolution Precision and Accuracy Linearity Sensor Calibration Problems with Sensors End User Calibration Process Calibration Methods What’s Ahead?

6. Programming the Robot’s Sensors

Using the Color Sensor

Color Sensor Modes Detection Range Lighting in the Robot’s Environment Calibrating the Color Sensor Programming the Color Sensor

Digital Cameras Used to Detect and Track Color Objects Tracking Colored Objects with RS Media Tracking Colored Objects with the Pixy Vision Sensor

Training Pixy to Detect Objects Programming the Pixy A Closer Look at the Attributes

Ultrasonic Sensor

Ultrasonic Sensor Limitations and Accuracy Modes of the Ultrasonic Sensor Sample Readings Data Types for Sensor Reading Calibration of the Ultrasonic Sensor Programming the Ultrasonic Sensor

Compass Sensor Calculates Robot’s Heading

Programming the Compass What’s Ahead?

7. Programming Motors and Servos

Actuators Are Output Transducers

Motor Characteristics Voltage Current Speed Torque Resistance

Different Types of DC Motors

Direct Current (DC) Motors Speed and Torque Motors with Gears

Motor Configurations: Direct and Indirect Drivetrains Terrain Challenge for Indoor and Outdoor Robots

Dealing with Terrain Challenges Torque Challenge for Robot Arm and End-Effectors Calculating Torque and Speed Requirements Motors and REQUIRE

Programming the Robot to Move

One Motor, Two, Three, More? Making the Moves Programming the Moves Programming Motors to Travel to a Location Programming Motors Using Arduino

Robotic Arms and End-Effectors

Robot Arms of Different Types Torque of the Robot Arm Different Types of End-Effectors Programming the Robot Arm Calculating Kinematics What’s Ahead?

8. Getting Started with Autonomy: Building Your Robot’s Softbot Counterpart

Softbots: A First Look

Parts Section The Actions Section The Tasks Section The Scenarios/Situations Section

The Robot’s ROLL Model and Softbot Frame

BURT Translates Softbots Frames into Classes Our First Pass at Autonomous Robot Program Designs What’s Ahead?

9. Robot SPACES

A Robot Needs Its SPACES

The Extended Robot Scenario The REQUIRE Checklist What Happens If Pre/Postconditions Are Not Met? What Action Choices Do I Have If Pre/Postconditions Are Not Met?

A Closer Look at Robot Initialization Postconditions

Power Up Preconditions and Postconditions Coding Preconditions and Postconditions Where Do the Pre/Postconditions Come From?

SPACES Checks and RSVP State Diagrams

What’s Ahead?

10. An Autonomous Robot Needs STORIES

It’s Not Just the Actions!

Birthday Robot Take 2 Robot STORIES The Extended Robot Scenario Converting Unit1’s Scenario into STORIES A Closer Look at the Scenario’s Ontology Paying Attention to the Robot’s Intention Object-Oriented Robot Code and Efficiency Concerns What’s Ahead?

11. Putting It All Together: How Midamba Programmed His First Autonomous Robot

Midamba’s Initial Scenario

Midamba Becomes a Robot Programmer Overnight! Step 1. Robots in the Warehouse Scenario Step 2. The Robot’s Vocabulary and ROLL Model for Facility Scenario #1 Step 3. RSVP for Facility Scenario #1 Visual Layouts of a Robot POV Diagram Midamba’s Facility Scenario #1 (Refined) Graphical Flowchart Component of the RSVP State Diagram Component of the RSVP

Midamba’s STORIES for Robot Unit1 and Unit2

Autonomous Robots to Midamba’s Rescue

Endnote

What’s Ahead?

12. Open Source SARAA Robots for All!

Low-Cost, Open-Source, Entry-Level Robots

Scenario-Based Programming Supports Robot Safety and Programmer Responsibility SARAA Robots for All Recommendations for First-Time Robot Programmers Complete RSVPs, STORIES, and Source Code for Midamba’s Scenario

A. BURT’s Gotchas Index

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