• Contents
• List of Figures
• List of Tables
• Introduction
  • Objectives
• Background and Related Work
  • Phases of Building a Robot
  • Robot Modules and Parameters
    • Forward Kinematics
    • Inverse Kinematics
    • Dynamics
    • Trajectory Generation
  • Linear Feedback Control
    • Local PD Feedback Control
    • Continuous vs. Discrete Time Control
    • Disturbance Rejection
  • Speed Considerations
    • Types of Inputs
    • Desired Frequency of the Control System
    • Error Analysis
  • Optimal Design of Robot Manipulators
  • Integration of Heterogeneous Systems
• Special Computer Architecture for Robotics
  • Design Issues
  • Parallel Architectures and multiprocessors
  • Application-Specific Integrated Circuits
  • Neural Networks and Robotics
  • 2400-MFLOPS Reconfigurable Parallel VLSI Processor
• Three-link Robot Manipulator
  • Analysis Stage
  • One Link Manipulator
  • Controller Design
  • Simulation
  • Benchmarking
  • PID Controller Simulator
  • Building the Robot
• Robot-computer Interface
  • The MC68HC11EVBU Chip
    • Operating Instructions
  • The MC68HC11E9 Chip
    • PIN CONFIGURATION
    • The CPU
    • Accumulators A, B and D
    • Index Registers X and Y
    • Stack Pointer (SP)
    • Program Counter (PC)
    • Condition Code Register (CCR)
    • Opcodes and Addressing Modes
    • Memory Map
  • Serial Communications Interface (SCI)
    • Transmit Operation
    • Receive Operation
    • SCI Registers
  • Analog to Digital Converter
    • Multiplexer:
    • Analog Converter:
    • Digital Control:
    • Result Registers:
  • Digital to Analog Converter
  • Operations in the Chip
  • Workstation's Role
  • Problems
  • Motors and Sensors
• The Optimal Design Subsystem
  • Constructing the Optimization Problem
    • Structural Length Index
    • Manipulability
    • Force Transmissibility
    • Accuracy
  • The User Interface
  • Some Design Examples
    • Example (1)
    • Example (2)
    • Example (3)
    • Example (4)
• The Prototyping Environment
  • Interaction Between Subsystems
  • The Interface Scheme
  • Overall Design
    • Communication Protocols
    • Design Cycles and Infinite Loops
    • Central Interface Design Options
  • Object-Oriented Analysis
  • Prototyping Environment Database
    • Design Parameters
    • Database Design
    • The Design History
  • Constraints and Update Rules Compiler
    • Language Syntax
    • The Generated Code
  • Implementation
    • The Central Interface
    • The PE Control System
    • Initial Implementation of the SSIs
    • The Central Interface Monitor
• Testing and Results
  • One-link Robot
  • Simulator for three-link Robot
  • Software PID Controller
  • The Prototyping Environment
  • Case Study
• Conclusions
  • Contribution
  • Applications
  • Possible Future Extensions
• References
• Appendix A
• Appendix B
• Appendix C
• About this document ...