ANATOMY OF A ROBOT
CONTENTS CHAPTER PROJECT MANAGEMENT PROJECT PROCESS FLOWCHART HOW THIS WORKS WHEN IT’S IMPLEMENTED RIGHT THE USER’S MANUAL FOR THE “BOSS” THE USER’S MANUAL FOR PMS CONCLUSION CHAPTER CONTROL SYSTEMS DISTRIBUTED CONTROL SYSTEMS CENTRAL CONTROL SYSTEMS OPEN-LOOP CONTROL CLOSED-LOOP CONTROL DESIGNING THE CONTROL SYSTEM NOTES ON ROBOT DESIGN MULTIVARIABLE CONTROL SYSTEMS TIME SPACE COMPUTER HARDWARE LEVERAGE EXISTING TECHNOLOGY SPEEDING UP ENGINEERING COMPUTER ARCHITECTURE PROCESS FOR CHOOSING A ROBOT’S COMPUTER HARDWARE RELIABILITY, SAFETY, AND COMPLIANCE RELIABILITY SAFETY ENVIRONMENTAL CONSIDERATIONS COMMON SENSE EMISSIONS QUALITY ISSUES TESTING DESIGN STEPS: HLD POWER LOCOMOTION AUTOMATION ENERGY AND POWER SYSTEMS ENERGY ENERGY SOURCES ENERGY CONTROL AND SOFTWARE CONSIDERATIONS ENERGY CONSERVATION HARDWARE CONSIDERATIONS SPY-HOPPING SOFTWARE CONSIDERATIONS FOR ENERGY CONTROL MECHANICAL CONSIDERATIONS: SOFTWARE FOR ENERGY CONTROL DIGITAL SIGNAL PROCESSING (DSP) THE NYQUIST-SHANNON SAMPLING THEOREM A/D CONVERSION A/D DITHERING SAMPLE AND HOLD (S/H) ANTIALIAS FILTERS D/A EFFECTS: SINC COMPENSATION DSP FILTER DESIGN PHYSICAL IMPLEMENTATION OF DSP FILTERS MULTIRATE DSP COMMUNICATIONS OSI SEVEN-LAYER MODEL PHYSICAL LAYER BASEBAND TRANSMISSION MODULATED COMMUNICATIONS ERROR CONTROL SHARED ACCESS COMPRESSION ENCRYPTION AND SECURITY POPULAR COMMUNICATION CHANNELS MOTORS AND ACTUATORS AC MOTORS DC MOTORS EXOTIC MOTORS MECHANICS MATERIALS SOME CAUTIONS STATIC MECHANICS DYNAMIC MECHANICS