Robotics for Programmers MEAP V04
Copyright
Welcome
Brief contents
Chapter 1: Robotics or Bits Meet Atoms
1.1 Robots and other machines
1.2 What you will learn about robots
1.3 Robotics the big picture
1.3.1 Environment
1.3.2 Sensors
1.3.3 Sensing
1.3.4 Planning
1.3.5 Acting
1.3.6 Actuators
1.4 Robot software development lifecycle
1.5 Summary
Chapter 2: Robots from a Software Point of View
2.1 Interacting with the Real World
2.2 Types of Robots
2.2.1 Manipulators
2.2.2 Mobile Robots
2.2.3 Mobile Manipulators
2.3 Robot Sensor Basics
2.3.1 Digital Electric Inputs
2.3.2 Analog Electric Inputs / ADCs
2.3.3 Position Sensors
2.3.4 Cameras
2.4 Robot Sensing Basics
2.4.1 Digital and Analog Inputs
2.4.2 Cameras
2.5 Robot Actuator Basics
2.5.1 Digital Electric Outputs
2.5.2 Analog Electric Outputs / DACs
2.5.3 Electric Motors
2.6 Robot Acting Basics
2.6.1 Digital and Analog Outputs
2.6.2 Electric Motor Control
2.7 Summary
Chapter 3: Robot Software Systems
3.1 The Robot Software Stack
3.2 Robots as Software
3.2.1 Robots as Embedded Real-Time Systems
3.2.2 Robots as Distributed Systems
3.2.3 Robots as Mechatronic Systems
3.2.4 Robots as Embodied Intelligence
3.3 Introducing AER: The Abstract Example Robot
3.3.1 AERindustrial
3.3.2 AERmobile
3.3.3 AERdrone
3.3.4 AERunited
3.4 Summary
Chapter 4: Robot Motion 1: Geometry
4.1 Objects in Space
4.2 Math and Physics in Robotics
4.3 Coordinate Transformations
4.4 Common Geometry Representations
4.4.1 Vectors
4.4.2 Matrices
4.4.3 Homogenous Coordinates
4.4.4 Quaternions
4.4.5 Shapes
4.5 Practical Advice
4.6 Exercises on Geometry
4.7 Summary
Chapter 5: Robot Motion 2: Kinematics
5.1 Kinematics introduction
5.2 Velocity and Acceleration
5.3 Derivatives
5.4 Integrals
5.5 Joint Space and Task Space
5.6 Forward Kinematics
5.7 Inverse Kinematics
5.8 Common Kinematics Representations
5.9 Analytical and Numerical Solutions
5.10 Exercises on Kinematics
5.11 Summary
Notes