开源机器人与过程控制Cookbook：构建可靠实时系统

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"机器人学Cookbook Robotic - Lewin A.R.W. Edwards 的开源机器人与过程控制Cookbook，专注于设计和构建可靠、可依赖的实时系统。" 《机器人学Cookbook Robotic》是Lewin A.R.W. Edwards撰写的一本优秀的机器人学习教材，同时也是开源机器人与过程控制的实用指南。这本书旨在帮助读者理解和掌握如何设计和构建强大、可靠的实时系统，这些系统在自动化和机器人领域至关重要。在机器人学领域，这本书涵盖了多个关键知识点： 1. **基础理论**：书中可能涉及经典机械工程、电子工程和计算机科学的基础知识，如力学、传感器技术、信号处理和控制系统理论。 2. **机器人建模**：介绍如何建立机器人的数学模型，包括动力学、运动学和静态分析，这是理解机器人行为和控制策略的基础。 3. **控制算法**：探讨各种控制策略，如PID控制器、状态空间模型、最优控制和反馈控制，以及如何应用于机器人系统。 4. **传感器与感知**：讨论各种传感器（如摄像头、激光雷达、IMU等）的应用，以及如何通过数据融合实现环境感知和定位。 5. **实时操作系统**：深入讲解实时操作系统（RTOS）的选择、配置和使用，这对于确保机器人系统的响应速度和稳定性至关重要。 6. **软件架构**：介绍开源软件平台，如ROS（Robot Operating System），及其在机器人开发中的应用，包括节点、消息传递和包管理。 7. **机器人应用案例**：通过实际项目和案例研究，展示如何将所学应用于机器人任务，如导航、避障、抓取和协作。 8. **安全与伦理**：随着机器人技术的发展，书中可能还会涉及安全标准、人机交互原则以及机器人伦理问题，以确保机器人的安全和合理使用。 9. **开源文化**：强调开源软件和硬件在机器人领域的价值，鼓励读者参与社区，共享代码和创新。 10. **实践指导**：提供详细的步骤和指导，帮助读者设置实验环境，进行模拟和实物实验，以提升动手能力。这本书不仅是对机器人技术的全面介绍，也是工程师和研究人员的实用参考书。通过学习，读者可以提升自己在机器人设计、开发和应用方面的能力，为进入或深化机器人学领域打下坚实基础。

Introduction

major focus was household and ofﬁce plasticware. It was most instructive to examine

their automated test ﬁxtures—proprietary systems—and compare the cost and setup

complexity of these ﬁxtures with the relatively low cost and setup time of a simple

Linux-based SBC controlling the same pneumatic actuators and sensors. Clearly,

there is an under-exploited market for low-cost test systems of this type. The pro

prietary systems in use at this particular facility cost almost $20,000 for a half-dozen

actuators and the associated PLCs, plus uncounted hours of setup time

. The control

software for these devices was specialized and not well-understood; in fact, most of

this equipment was standing idle because the people who originally conﬁgured it had

left the company. By way of contrast, the same tasks could easily be accomplished

with a regular PC costing a mere few hundred dollars, plus perhaps $200 per actua-

tor for the associated pneumatics. More importantly, the control software for such

a system is a simple C program easily understood and adaptable by any competent

computer science or electronic engineering major; there were several candidates

readily available in the company lab.

Due to the nature of the research which led to this book’s inception, I have

included a sprinkling of naval details within the text, not all of which are directly

relevant to the embedded engineer. If this material is not of interest, you can safely

ignore it without compromising your understanding of the remaining text in any way.

The reason this information is included alongside the “pure” embedded develop-

ment discussion is principally to illustrate the real-world requirements and thinking

that led to various design decisions in the E-2 project. Engineering is not theoreti-

cal science; it is an applied discipline, and it is with this in mind that I use speciﬁc

examples to illustrate theoretical points.

You should also note that some of the opinions expressed in this book, if not

exactly controversial (except by Usenet standards—everything on Usenet is con-

troversial!), are at least arguable; for example, the choice of AVR as my real-time

control platform. For this reason, I have provided additional justiﬁcation for the

decisions I have made in this text. This additional explanation should demonstrate

the reasons I had for choosing speciﬁc paths, but it’s expressly

not designed to prosely-

The system was originally set up by “free” interns, so their time wasn’t rigorously tracked.

Chapter 1

tize the AVR to people who have experience with, and prefer, another architecture.

Again, this “bonus material” is not critical to your understanding of the basic con-

cepts presented here, and you can safely skip it if you wish.

Also keep in mind that this book is intentionally not a “bible.” It is not an ex-

haustive coverage of every single nuance of the topics covered; such a work would

span several shelves. The primary goal of this book is to describe and illustrate a

simple, modular, inexpensive methodology for implementing complex embedded

systems, and to present some ready-to-use modules for the reader to adapt to his or

her own projects. The particular emphasis is on realizing end-to-end solutions using

low-cost development hardware and free software tools. By the time you reach the

last few pages, hopefully you should have the following:

■ A functional understanding of the critical “under-the-hood” details required

to bootstrap Linux on x86 platforms.

■ An introduction to the types of problems you will face in using embedded x86

single-board computers as the core of data logging and motion-controlling

systems.

■ Basic information about the Atmel AVR microcontroller family.

■ A practical introduction to building some simple data acquisition and motor

control circuits, and connecting them to PCs.

■ Some basic “primer” information on data security, authentication and

reliability issues as they affect embedded systems.

The underlying idea is that the reader has reasonably intimate experience with

one or other of the topics of Linux application development, or development of

deeply embedded systems—this book is designed to boost you up the leading edge of

your learning curve with the essentials of whichever side of the equation you’re miss-

ing. It also provides the glue that binds these pieces of information together in the

overall context of a fairly complex project. Note, by the way, that I used the titular

word “cookbook” with some difﬁdence. Purely cookbook engineering—slotting

ill-understood pieces together like Capsela spheres—is never good practice. In this

book, I’m giving you some ready-to-use Capsela pieces, but I’m also telling you how

Introduction

and why I made the gears and shafts in each piece, and to some extent how you can

go further and make better pieces for yourself. These explanations are much more

important than the blueprints for the pieces themselves.

When planning a book like this, it’s easy to fall into one of two traps: either

to create a single, monolithic “mega-application” which illustrates all the desired

points, but is extremely difﬁcult to explain succinctly, or on the other hand to break

the topic down into numerous small abstract notes that many readers will have

trouble integrating into real-world projects. I have tried to steer between these two

extremes by breaking the more interesting modules of the E-2 project into a few

small, practical applications together with basically standalone code and enough

theory to modify and extend these applications for your own uses.

Finally, a note to people who own my previous book,

Embedded System Develop-

ment on a Shoestring. This book is not designed to be a sequel to that volume, but

it is deﬁnitely related material. If you follow the techniques in this book to build a

prototype device, and you later want to squeeze it down into an optimized single-chip

solution, my earlier work will help you understand how to use free GNU tools to get

your software easily ported across to an ARM microcontroller. The principal criti

cisms I received for that previous book were that it needed to cover a wider range of

information, and that there were too few illustrations, making it a rather dry read.

I’ve listened to these comments and I hope you will ﬁnd this book satisﬁes your needs

in both respects. As always, your comments and suggestions are welcome; you can

email me at sysadm@zws.com or visit my web site at http://www.zws.com/.

1.2 Target Readership and Required Skills and Tools

Throughout this text, I assume that the reader is a competent C programmer, with

some experience in using (though not necessarily embedding) UNIX-like systems,

speciﬁcally Linux. I also assume a very basic level of knowledge of real-time systems

and simple digital electronics. This book is not an introduction to Linux, nor is it an

introduction to the concepts of embedded programming; there are hundreds of such

books already.

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