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SOURCE: Kakoty N. Introduction to Embedded Systems and Robotics. A Practical Guide 2024
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MEDIAINFO
Textbook in PDF format This book is a technical guide to fundamentals of embedded systems and robotics, and their application to practical problems. The book hosts the concepts of different elements related to the amalgamation of embedded system and robotics before tackling the physics of robotic systems. This book is the ABC of embedded system and robotics: A for acquiring the concepts, B for building robotic systems, and C for creating solutions. An embedded system, introduced in 1970, is a combination of software and hardware, i.e., a programmable electronic or electro-mechanical system designed for performing a specific task. The operational sequences in the system are rooted in an integrated computational system and thereby it is named embedded. The hardware in an embedded system consists of a programmed microcontroller or microprocessor containing memory modules, input-output interfaces, display systems, communications modules, and electronic and mechanical components. The software present in it comprises of a set of instructions for communicating and controlling the above and other sub-systems interfaced to it. It is written in a high-level programming language, compiled into machine code, and uploaded into embedded hardware, which on execution sends commands to interfacing peripheral components. A sensor is a device used to measure events or changes in its environment and convert them into an equivalent electrical signal. Robots use different types of sensors to acquire information. Based on the sensors’ inputs about the workspace and surrounding environment, a robot takes decisions on how to act. The input to a sensor is a physical quantity like pressure, temperature, humidity, light, sound, and touch and its outputs are in the form of electrical signal. The output signals can either be analog or digital, depending on the type of sensor. These signals are fed to a controller in a robot wherein they are processed to understand the robot’s environment. Microcontroller is a system-level component of an electronic circuit through which output based on the input received from the physical world through input-output devices like sensors is determined. It can be assumed to be analogous to the human brain. It has created great impact on mankind through its various applications—in household applications like washing machine, microwave oven, and air-conditioner; office applications like photocopy machines, computers and printing machines; industrial applications like manufacturing robots, automated warehouse trolleys, weighing machines, and automated teller machines. Microcontroller is an embedded system comprising of microprocessor with on-chip RAM, ROM, timer, input-output port, and serial communication port. Microcontrollers are more suitable in a variety of electronic applications due to low cost, less space requirement, low power consumption, and high computing capacity. Unlike microprocessors, microcontrollers possess peripheral devices like analog-to-digital converters, memory registers, and timers housed in a single chip. The CPU performs input-output read/write and memory read/write operations using three sets of communication lines: data bus, address bus, and control bus. A bus is a set of communication lines. It is appropriate for undergraduate and post-graduate students of electronics and electrical engineering, robotics engineering, Computer Science and engineering, mechanical engineering, and allied disciplines. Specifically, it will act as a guide for students doing robotics projects in their final semesters. Introduction to Embedded Systems Introduction to Robotics Sensors, Actuators, and Circuits in Robotics Microcontrollers in Robotics Spatial Descriptions: Frames and Transformations Kinematics and Dynamics Control Systems in Robotics Academic Projects and Tools in Robotics
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