附註:Includes bibliographical references and index.
Copyright; CONTENTS; PREFACE; INTRODUCTION; CHAPTER 1 PROJECT MANAGEMENT ; Project Management; Project Process Flowchart; How This Works When It's Implemented Right; The User's Manual for the "Boss"; PROJECTS ARE SHORT; PMS RUN THE PROJECTS; APPOINTING PMS; KEEP THE PROJECT STABLE; CORRECTIVE ACTIONS; The User's Manual for PMs; STARTING A PROJECT; RECORD KEEPING; PROJECT PROPOSAL; PROJECT PLAN; FINDING PROJECT RESOURCES; WRITING FUNCTIONAL SPECIFICATIONS; WRITING HIGH-LEVEL DESIGN (HLD) DOCS; EXECUTING THE PLAN; PPP REPORT (WEEKLY); PROJECT REVIEWS (SCHEDULED); PM'S PROJECT CHECKLIST.
ConclusionCHAPTER 2 CONTROL SYSTEMS; Distributed Control Systems; Central Control Systems; Open-Loop Control; Closed-Loop Control; STEADY STATE ERROR; DYNAMIC RESPONSE; Designing the Control System; HOW THE DESIGN OF THE CONTROL SYSTEM DETERMINES HOW THE ROBOT WILL REACT; HOW TO CHARACTERIZE THE ROBOT'S PERFORMANCE AND KNOW WHICH DESIGN PARAMETERS TO ALTER; HOW TO ALTER THE ROBOT'S DESIGN PARAMETERS; HOW TO GET OPTIMUM PERFORMANCE FROM THE ROBOT; Notes on Robot Design; DESIGN HEADROOM; NONLINEAR CONTROL ELEMENTS; HUNTING; A CAUTION; Multivariable Control Systems.
HOW WILL WE DESIGN THE MULTIPLE VARIABLE SYSTEM? WHAT FRAMEWORK WILL IT HAVE?HOW MANY VARIABLES CAN BE CONTROLLED AT THE SAME TIME?; WHAT IS THE EQUIVALENT FOR STEADY STATE ERROR WHEN USING MULTIPLE VARIABLES?; HOW DO YOU EVALUATE THE RELATIVE STATE OF THE CONTROL SYSTEM? HOW FAR IS IT FROM THE OPTIMAL CONTROL STATE? WHAT IS THE ERROR; HOW CAN WE ALTER THE DESIGN OF THE SYSTEM TO AFFECT ITS PERFORMANCE?; NON-LMS COST FUNCTIONS; Time; Space; CHAPTER 3 COMPUTER HARDWARE; Leverage Existing Technology; Speeding Up Engineering; Computer Architecture; TYPES OF COMPUTERS; WORD SIZE; POWER.
MEMORY SUPPORT CIRCUITRYMEMORY CHIPS; CACHE MEMORY; COMPUTATION AND STORAGE REGISTERS; INSTRUCTION SET; RISC; CISC; COPROCESSORS; INPUT/OUTPUT (I/O); PERIPHERALS; Process for Choosing a Robot's Computer Hardware; CONSTRAINTS; CHAPTER 4 RELIABILITY, SAFETY, AND COMPLIANCE; Reliability; MATHEMATICS; AVAILABILITY; COMPONENTS; Safety; HUMAN SAFETY; MECHANICAL THREATS; SOUND PRESSURE SAFETY; LASERS AND LIGHT SAFETY; FIRE AND ELECTROCUTION; Environmental Considerations; TEMPERATURE; VIBRATION; VANDALISM AND THEFT; HUMIDITY; ALTITUDE; CONTAMINANTS; Common Sense; COMPLEXITY; COMPARABLE SYSTEMS.
ACID TESTPLAN ON FAILING; TESTING; Emissions; GENERATION; SHIELDING; Quality Issues; Testing; STRESS TESTS; PERFORMANCE TESTS; CHAPTER 5 DESIGN STEPS: HLD; Power; Locomotion; Automation; CHAPTER 6 ENERGY AND POWER SYSTEMS; Energy; CALCULATIONS; EMPIRICAL MEASUREMENTS; COMPARISONS; Energy Sources; CHAPTER 7 ENERGY CONTROL AND SOFTWARE; Considerations; PRIORITIES; LEADERSHIP; PLANNING; BE CONSERVATIVE; TECHNOLOGY SELECTION; CENTRALIZATION; Energy Conservation; ENERGY PIG; ENERGY AWARE; ENERGY EFFICIENT; ENERGY MISER; Hardware Considerations; POWER SUPPLY; PROCESSOR; SUBSYSTEM POWER CONTROL.
摘要:A "head to toe" look at the theory and philosophy of all the different disciplines involved in building robots, from project management, reliability, mechanics, controls, and algorithms. This work looks under the hood of all robotic projects, stimulating teachers, students, and hobbyists to learn more about the gamut of areas associated with control systems and robotics. It offers a unique presentation in providing both theory and philosophy in a technical yet entertaining way.
