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Copyright 2006, 2001, 1987 by The McGraw-Hill Companies, Inc. Click here for terms of use.
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ROBOT TASKS, OPERATIONS, AND BEHAVIORS
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Other machines around your home and office are the same. Consider your telephone answering machine, your copier, or even your personal computer. All need you to make them work and accomplish their basic tasks. A real robot, on the other hand, doesn t need you to fulfill its chores. A robot is programmed ahead of time to perform some job, and it goes about doing it. Here, the distinction between a robot and an automatic machine becomes a little blurry because both can run almost indefinitely without human intervention (not counting wear and tear and the availability of power). However, most automatic machines lack the means to interact with their environment and to change that environment if necessary. This feature is often found in more complex robots. Beyond this broad distinction, the semantics of what is and is not a robot isn t a major concern of this book. The main point is this: once the robot is properly programmed, it should not need your assistance to complete its basic task(s), barring any unforeseen obstacles or a mechanical failure.
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37.1 What Does My Robot Do : A Design Approach
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Before you can build a robot, you must decide what you want the robot to do. That seems obvious, but you d be surprised how many first-time robot makers neglect this important step. By reducing the tasks to a simple list, you can more easily design the size, shape, and capabilities of your robot. Let s create an imaginary homebuilt robot named RoBuddy, for Robotic Buddy, and go through the steps of planning its design. We ll start from the standpoint of the jobs it is meant to do. For the sake of simplicity, we ll design RoBuddy so that it s an entertainment bot it s for fun and games and is not built for handling radioactive waste or picking up after your dog Spot. The first question people ask when seeing a robot is, So, what does it do That s not always an easy question to answer because the function of a robot can t always be summarized in a quick sentence. Yet most people don t have the patience to listen to a complex explanation. Such is the quandary of the robot builder!
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37.1.1 AN ITINERARY OF FUNCTIONS
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One of the best shortcuts to explaining what a robot can do is to simply give the darned thing a vacuum cleaner. That way, when you don t feel like repeating the whole litany of capabilities, you can merely say, it cleans the floors. That s almost always guaranteed to elicit a positive response. So this is Basic Requirement #1: RoBuddy must be equipped with a vacuum cleaner. And since RoBuddy is designed to be self-powered from batteries, the vacuum cleaner needs to run under battery power, too. Fortunately, auto parts stores carry a number of 12-V portable vacuum cleaners from which you can choose. Like the family dog that performs tricks for guests, a robot that mimics some activity amusing to humans is a great source of entertainment. A very useful and effective activity is pouring and serving drinks. That takes at least one arm and gripper, preferably two, and the
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37.1 WHAT DOES MY ROBOT DO : A DESIGN APPROACH 665
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arms must be strong and powerful enough to lift at least 12 oz of beverage. We now have Basic Requirement #2: RoBuddy must be equipped with at least one appendage that has a gripper designed for drinking glasses and soda cans. The RoBuddy must also have some kind of mobility so that at the very least it can move around and vacuum the floor. There are a number of ways to provide locomotion to a robot, as described in earlier chapters. But for the sake of description, let s assume we use the common two-wheel-drive approach, which consists of two motorized wheels counterbalanced by one or two nonpowered casters. That s Basic Requirement #3: RoBuddy must have two drive motors and two wheels for moving across the floor. Since RoBuddy flits about your house all on its own accord, it has to be able to detect obstacles so it can avoid them. Obviously, then, the robot must be endowed with some kind of obstacle detection devices. We re up to Basic Requirement #4: RoBuddy must be equipped with passive and active sensors to detect and avoid objects in its path. Serving drinks, vacuuming the floor, and avoiding obstacles requires an extensive degree of intelligence and is beyond the convenient capability of hard-wired discrete circuits consisting of some resistors, a few capacitors, and a handful of transistors. A better approach is to use a computer, which is capable of being programmed and reprogrammed at will. This computer is connected to the vacuum cleaner, arm and gripper, sensors, and drive motors. Finally, then, this is Basic Requirement #5: RoBuddy must be equipped with a computer to control the robot s actions. These five basic requirements may or may not be important to you or applicable to all your robot creations. However, they give you an idea of how you should outline the functions of your robot and match them with a hardware requirement.
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