of a different robot. I. INTRODUCTION. Originally, adaptive control had been applied to robotic manipulators in order to cope with dynamic uncertainties.
produces a con guration based on the performance of a software simulation of the recon gurable ..... obtained from an implementation of the FSM in software.
Nicoud, editors, From Perception to Action Conference, pages 146{157. IEEE. Computer Society Press, 1994. 24. David P.M. Northmore and John G. Elias.
Comparing Robot Controllers. Through System Identification. Ulrich Nehmzow1, Otar Akanyeti1, Roberto Iglesias2,. Theocharis Kyriacou1, and S.A. Billings3.
Jun 13, 1988 - ROBOT PROGRAMMING. By Christopher Ce Jobes. Contract No. S0368000. BOEING SERVICES INTERNATIONAL. P. O. Box 10838.
The examples and diagrams in this manual are included solely for illustrative .....
DINT, REAL, string. Greater than or equal. >= DINT, REAL, string. Not equal. .
important differences between solid-state equipment and hard-wired ....
Unavailable Instructions within Add-On Instructions . ...... that can be used to build
more complex functionality by nesting instructions. The .... Motion Arm Output
Cam.
switches simultaneously that are separated by a distance such that both switches ..... This complicates learning to prog
common PLC functions are presented, and practical examples are given based on the Allen-Bradley RSLogix programming soft
However, after finishing the PLC course, the student will most likely be employed .... The on/off switches on most desktop computers and laboratory ..... This printing method is usually limited to ladder diagrams of PLC programs as we will see.
480VAC primary. The secondary windings are generally rated at 120VAC, 48VAC or .... A coil of copper wire is wound on the bobbin to create an electromagnet.
Programming. Robot. Controllers. Myke Predko. McGraw-Hill. New York Chicago
San Francisco Lisbon. London Madrid Mexico City Milan. New Delhi San Juan ...
Programming Robot Controllers Myke Predko
McGraw-Hill New York Chicago San Francisco Lisbon London Madrid Mexico City Milan New Delhi San Juan Seoul Singapore Sydney Toronto
CONTENTS Introduction Acknowledgments Chapter 1
Chapter 2
Chapter 3
Chapter 4
Microcontrollers in Robots
ix xix 1
Controlling a Robot Support Components Memory and Device Programming Interrupts Built-In Peripherals Interfacing the Controller to the Robot
2 5 1 1 15 18 21
Software Development
25
Source Files, Object Files, Libraries, Linkers, and Hex Files Assemblers Interpreters Compilers Simulators and Emulators Integrated Development Environments
27 30 33 36 42 45
The Microchip PICmicro® Microcontroller
49
Different PICmicro MCU Devices and Features Application Development Tools Used in This Book Basic Circuit Requirements ThePIC16F627 El Cheapo PICmicro MCU Programmer Circuit
52 53 75 81 1 16
Microcontroller Connections
127
Hardware Interface Sequencing Robot C Programming Template Prototyping with the PICmicro Microcontroller Intercomputer Communications RS-232 HyperTerminal RS-232 Terminal Emulator RS-232 Interface Example Between PC and PICmicro MCU
129 132 136 141 143 148 153
Contents Bidirectional Synchronous Interfaces Output Devices LEDs ledflash - Flashing an LED PWM Power-Level Control ledpwm - Dimming the Output of an LED Piezo Electric Buzzers and Speakers for Audible Output Beeper Application LCDs LCD - Sample Two-Wire LCD Interface Sensors Whiskers for Physical Object Detection Whisker Debounce IR Collision Detection Sensors irdetect - IR LED and Detector-Based Object Sensor IR Remote Controls Sony Remote Control Receiver Application Combining irdetect and remote Ultrasonic Distance Measurement Ultra - Example Interface Light-Level Sensors Light - Practical Sensor Examples Sound Sensors Sound - Recognizing Audio Commands H-Bridge Motor Control Wallhug - Using the Tamiya Wall-Hugging Mouse as an Application Base Odometry for Motor Control and Navigation Radio Control Servos Servo2 - 60-Minute Robot Base Using RC Servos
Real-Time Operating Systems (RTOS) Roach Example Application Running in an RTOS State Machines Randomly Moving a Robot Application with IR Remote Control Behavioral Programming Neural Networks and Artificial Intelligence
330 336 343
292 307 313 315
346 349 355
Contents Chapter 6
Appendix A
VN Designing the Robot System
361
Defining the Requirements for the Robot Choosing the Peripherals to Be Used in the Robot Selecting the Parts and Assembly Techniques Validating the Operation of the Robot Finding and Resolving Problems Adding Features, Functions, and Peripherals
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