Robotics for Programmers - MEAP Version 4

Master the skills you need to program robots and other mechanical systems. Interesting examples and clear explanations guide you through programming robot arms, robots that drive and fly, and mobile manipulators. In Robotics for Programmers you will learn how to:• Design robot software systems using standard software engineering skills• Control real and simulated robots using the Robot Operating System framework (ROS2)• Apply universal robotics principles to ROS and other frameworks• Develop software for robot arms, driving and flying robots, and mobile manipulators• Work with a robot’s sensors, sensing, planning, acting, and actuators• Build for all layers of a robot software stack from low-level close to the hardware, to core robot algorithms and services to application software• No special hardware or mechanical engineering skills are required to complete the examples 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