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XII INTRODUCTION
physics and math, you can take your understanding further. Using this knowledge, you
can predict the behavior of your robot in advance. As problems crop up, you’ll have the
basic knowledge to move effectively toward solutions.
Throughout the book, I’ve also thrown in experience gained from 32 years of engi-
neering design. I can’t be there when you build your robot, but I can put tools in your
belt and pass on such wisdom as we both can sit still for.
Originally, I started this project for the fame, fortune, and groupies. As the chapters
rolled out, I got my true rewards. I relearned the basic technologies to better explain
them. I dug into the larger questions lurking behind the equations and technology. And
as the book developed, I found an outlet for other thoughts I’ve had for quite some time.
I hope my philosophical asides prove entertaining.
The book is divided into chapters that deal with monolithic subjects like computer
hardware, computer software, digital signal processing (DSP), communications, power,
and control systems. It is my hope that readers will find these individual subjects com-
pelling enough to pursue them further. In each chapter, I’ve included URLs for web sites
that explain the technologies in more depth. The Web can be a great place to obtain a
continuing education.
Chapter 1 covers project management. More robots bite the dust for a lack of man-
agement discipline than any other reason. Building robots is much like going into bat-
tle. You can do great damage coming straight out of the gate and swinging swords, but
it takes planning to make sure only the enemy gets cut. The chapter outlines how to
approach a robot project from the outset. It includes development process flowcharts,
checklists, and lots of tips. Robots are not built; they are born. With forethought and
preparation, the process can be much less painful. And lest we forget, the project
depends on people. Motivation and management, of self and others, are required for
success.
Chapter 2 covers control systems. This is a complex field with a language of its own
and many disciplines. If someone were to gather data about why robot projects fail, I’m
guessing mechanics and power problems would come first. Control system problems
would be right up there, too. The chapter discusses control system architecture; dis-
tributed and centralized control systems are compared and contrasted. Most robots have
centralized systems and use open-loop and closed-loop control methods. The text out-
lines the basic behavior of a second order-control system, a good model for the behav-
ior of many robotic systems. The text explains the math needed to understand and
control system behavior. Specific examples of ways to design and correct such a con-
trol system are also given. Last of all, I’ve thrown in all the tricks of the trade that
I know.
Chapter 3 covers computer hardware. I’ve outlined many of the reasons for using a
computer in a robot and ways to accelerate the design process. Several computer archi-
tectures are listed, including analog, general-purpose digital, DSP, neural networks, and
parallel processors. I’ve outlined the basic architecture of general-purpose digital