USBORNE NEW TECHNOLOGY

ROBOTICS
Tony Potter and Ivor Guild
Designed by Roger Priddy

Consultant Editor: Nigel East

Editor: Lynn Myring
Robot program: Chris Oxlade
Illustrated by: Jeremy Gower
Chris Lyon, Simon Roulstone, Martin Newton,
Geoff Dicks, Mick Gillah, Rob McCaig,
Tim Cowdell, Janos Marffy, Mike Saunders,
Kuo Kang Chen, Stan North.
 CONTENTS
3 About robotics
4 What robots can and cannot do
6 Mobile robots
8 How arm robots work
10 Designing robots
12 Special purpose robots
14 Robots in space
16 Micro-robots
18 Robot factory workers
20 l-low to teacli a robot
22 Types of arm robot
24 How robots are driven
26 How robots fiold tilings
28 Computer control
30 Sensors
32 Hovi^ a robot knows where it is
34 Cybernetics
/
36 Latest developments
38 Build your ovi^n micro-robot
47 Robot vi^ords
48 Index

First published in 1983

by Usbome Publishing Ltd, 20 Garrick Street, London WC2E 9BJ

© 1983 by Usbome Publishing Ltd

AU rights reserved. No part of this publication may be reproduced, stored in any form or by any
means mechanical, electronic, photocopying, recording, or otherwise without the prior
permission of the publisher.
About robotics
Seventy years ago no one had ever heard
the word "robot".It was first used by a

Czechoslovakian writer, Karel Capek

(pronounced Chapek) in the 1920s. He
wrote a play about a scientist who invents
machines which he calls robots, from the
Czech word robota, meaning "slave-like
work". He gave them this name because
they were used to do very boring work. At
the end of the play, the robots kill their
human owners and take over the world.
There are many robots in existence now,
but they are quite different from the robots
of science fiction films and books. Instead
of being frightening, super-intelligent metal
Some factories prefer to use robots rather
than other automatic machines because
they can be re-programmed to do different
jobs.

people, real robots are just machines Some robots are used to do jobs that
controlled by a computer to work in a set would be impossible for people to do, such
way. They are generally deaf, dumb, blind, as working inside the radioactive part of a
have no sense of taste, smell or touch, have nuclear power station, or visiting distant
difficulty getting around, and have no planets. Others, like the small micro-robots
intelligence of their own. However, used with a home computer, are just for fun
advances in microchip technology mean or for learning about robotics. You can find
that robots are beginning to be made with out how to make your own micro-robot on
sensors - a TV camera "eye" or a page 38.
microphone "ear" for instance - which give
them very limited senses like electronic
sight and hearing.
Robots are used to do many things, often
jobs which are very dangerous or tiring for
people to do, like welding car bodies. In
factories, robots are useful because they
are often able to work more efficiently than
people. Although robots break down, they
never need holidays, sleep or meal breaks.
What robots can rcannot do ."M-AI •>

Robots are able to do many different

things, especially in factories. Here
robots are carefully maintained and
organized to work alongside other
automatic machines. Robots are rarely
used to work outside because it is much
more difficult to get them to work away
from the ordered environment of a
factory.
Science fiction robots are often made
to look human, but the appearance and
abihty of an industrial robot depend on
the kind of work it has to do. The majority
of them are like "arms" boUed to the floor
because the work they do can be done
standing in one place. These arm robots
Accurate robots
are often called manipulative robots Some robots are able to do very accurate
because they hold things - perhaps a tool and intricate work, but this depends on
Uke the welding torch in the picture the design of the robot and the computer
below. program that controls it. This picture
Arm robots are most famihar in car shows a robot laying out lengths of wire
factories, but they can be found in many in a complex pattern for wiring-up
other industries - electronics, electric vehicles, like fork-hft trucks. To
engineering, clothing and confectionery, do this, it first has to push nails into holes
for example. The jobs they are best at are in a pegboard according to a pattern
those that involve doing the same thing stored in its computer memory. The
over and over again. robot has to Une up the nails with the
holes very precisely to get them to fit.
_ <^

Robots today
Most of today's robots are only able to than existing robots and have lots of
work in a factory where everything is sensors to be able to react to a vast
carefully organized around them. Robots amount of information, or feedback,
are usually next to a conveyor beh which about the world around it. Even the best
"feeds" them with work, for example. of today's robots could not react fast
They also have to be kept in a wire enough to catch a ball, for instance.
"cage" to prevent the robot from injuring Imagine trying to do this with thick
any passing people. Some scientists mittens on, one hand tied behind your
beheve that in fifty years or so it will be back, your eyes blindfolded, feet
possible to build a robot capable of cemented to the ground and your ears
working anywhere. This kind of robot and nose blocked up. Most robots have
would have to be much more "intelligent" to rely on even less feedback than this.
Tough robots
Meiny robots can do work which would
be dangerous or unpleasant for people.
Robots are very tough because they are
made of metal, and can withstand very
extreme conditions, such as a hot
poisonous atmosphere. This robot is
putting its hand right into a red-hot oven
to take a metal casting out. The heat does
not affect its performance, so it is able to
produce high quality castings by always
taking them out at the right temperature.
€ • « e

What happens v«^hen

things go vi^rong?
Many robots are unable to react to
anything unexpected happening to them
because they have no sensors. This
robot, pictured below, is controlled by a
computer to spray bicycle frames as
they pass by on a conveyor. If a frame
iiii falls off, the robot carries on spraying.
One way of preventing this is to put a
switch on the conveyor which turns off
the robot. Another way to stop it is to give
the robot electronic senses to detect
what is going on.

< ^ "V
How strong is a robot?
The strength of a robot depends on the
power of its motors and the materials it is
made from. A home micro-robot made
from thin sheet metal can only hft the
weight of an apple, for example. But a
large industrial robot hke the one above
could pick up something as heavy as an This robot wears a plastic cover as an
elephant. A robot like this can easily lift "overall" to stop paint clogging it up.
sacks all day, whereas even a strong Other robots also need to wear special
person would get tired eventually. covers.
Mobile robots
A mobile robot is a computer-controlled
vehicle of some kind, and the most common
have wheels or tracks. Some carry a
computer around with them, but others are
connected to a computer by a long cable or
by radio link. Mobile robots are beginning
to be used in factories to move goods and
materials around, sometimes from one arm
robot to another. Robot trucks like the one Steering a robot
in the picture below can be guided round This is a micro-robot called Bigtrak. It is
the factory by following white lines or steered by two motors driving the wheels
magnetic signals from cables buried in the centre. Its computer controls the
underground. The computer controlling the steering by changing the speed and
truck is programmed to tell it which route to direction of the motors. Bigtrak's other
take round the network of lines or cables. wheels just prevent it tipping up.

Hovi^ robots follow buried

cables

How robots follow lines

The circle above shows how a
robot can follow lines by using a
sensor to send feedback to the
computer about its position over
the line. The sensor usually
consists of a light pointing to the
floor with a light detector either
side of it. These detect light
reflected from the line. If the
robot steers off the line, they send
a message to the computer to
correct the steering.

Cable.
^
A cable-following robot like the reates a small electric current in
one above usually has two coils of the robot's coils. The strength of
wire fixed to the front which the current in the coils alters
detect a magnetic field according to how far the robot is
surrounding the buried cable .
.^j from the cable. The computer
The magnetic field is made by steers the robot over the cable by
sending electricity through the balancing the strength of current
cable and this field, in turn. in the two coils.
Forwards or backwards: Right turn: The left-hand Left turn: The right-hand
Both wheels are driven at wheel is driven forwards, wheel is driven forwards,
the same speed in the same and the right-hand wheel and the left-hand wheel
direction. backwards. backwards.

Robots with tracks can be steered like this too

because each track is like a driven wheel.

Steering mechanism

Some robots use a steering mechanism like

wheel they
that in a car. Instead of a steering
This kind of robot steers by turning on the have a motor connected to a computer.
spot. Robots can also be steered gradually Robots like this are less manoeuvreable
as they move forward by making both than the Bigtrak type because they cannot
motors go forward, with one going faster. turn on the spot.

Roving robot
New mobile robots are being developed which find their way around by navigation. This
means that the robot's computer has to decide how to get the robot from where it is to
where it wants to go without following any guides, like white lines, and without bumping
into anything.

ir
Grab arm

This picture shows an experimental robot

called Mr Bill (Mr stands for Mobile Robot)
which navigates by using sensors to find out
about its environment. Most of the
information comes from sonar sensors
mounted on the robot. These work by
emitting a sound, and then "listening" for an
echo to bounce back from obstacles. This
information is compared with a "map" of the
positions of fixed obstacles, like walls,
which is stored in the memory of the on-
board computer. There are also other
sensors on the robot's wheels, called
odometers, which tell the computer how far
the robot has travelled. The computer
works out where the robot is by making
calculations using all this information.
 Hov\^ arm robots v\^orlc
Shoulder
These pages show all the things that are needed to make
an arm robot work and a view inside the robot to show
what makes it move. There are many different ways of
constructing and powering a robot. This one is jointed
like a human arm and is driven by electric motors. Some
work in the same way, but are much
industrial robots
more complex inside.
Each moving part of a robot is usually driven by a
separate source of power. This one has six motors to
make its arm and wrist parts move. Each motor is
switched on and off by the computer, which also controls
the speed of the motors. You can find out about other
ways of driving robots on page 24.

Transformer
Electricity for the robot's
Transformer
motors and computer is
provided by a transformer.
This converts the strong
electric voltage from the
mains into a low voltage

Interface
A device called the
interface links the
transformer, motors and
computer together. Inside is
an electronic circuit which
switches the power to the
motors on and off when
instructed by the computer.
Interface
I^
Arm movements

Waist Shoulder Elbow

Most arm robots have three main parts which are joined together. The point where one part
is fixed to another is usually called a joint or axis. The joints on a robot like the one above

are given the names elbow, shoulder and waist. Each axis is said to give the robot one
degree of freedom because it allows the parts fixed at the joint to move in a certain way. In
these pictures you can see the direction in which each joint allows the robot to move.
8
 There are three tiny motors inside the
robot's "forearm" which drive three moving
parts in the wrist. These motors are
connected to gears in the wrist by very long
shafts. Each shaft has a flexible joint in
y
Elbow
the middle which allows it to bend
as the wrist moves from side
to side and up and down.
Motors

Wrist
Each motor is connected by gears to a
shaft which moves part of the robot. In this
picture the shafts are the parts painted
orange, and the gears are painted green.
The gears help to reduce the speed of the
Flexible
motors.
shafts

Clipper

The robot's hand, called a gripper, is shown

separated from its wrist in this picture. You
can find out how these work on page 26.
The wrist is a complicated mechanism
which can bend in three ways, shown in the
The computer picture below. Some robots have wrists
isprogrammed which bend in only two directions, but this
using the keyboard. depends on the kind of work they have to
It controls everything the do. The more joints in the wrist, the more
robot does by sending a sequence able the robot is to make fine movements to
of instructions to the interface. do a job.

Wrist movements

Roll Pitch Yaw

Between the gripper and the end of the robot arm is a kind of wrist. Like the arm, the wrist
usually has three joints, or axes of rotation. These allow the gripper to move in three ways,
shown in the pictures above. These movements have special names: yaw, pitch and roll. A
robot hke this which can make six kinds of movements has six degrees of freedom. Some
robots have more than this, some less, depending on the kind of work they do.
 Designing robots
It very difficult to design and build a robot, even to do a simple job. A robot designer has
is

to begin by breaking down the job into as many steps as possible to see what sort of robot is
needed. For example, the robot arm below would need to be able to bend its wrist if it had
to lift a glass of water. These pages shown an imaginary robot servant designed to do all the
dusting in a two-storey house. An extremely complex robot is needed to do this apparently
simple task. Experts think it may be possible to build a robot like this in a few years time.

Arm robot

Computer control
The computer has to be
programmed to control everything
the robot does: how the motors drive
its legs and arms, how it navigates

around the house without causing

damage, the way it does its dusting,
and so on. The computer must make
the robot do everything in the right
order, such as opening doors before
going through them. It also has to
work things out without delay so that
the robot can respond instantly to
something unexpected, like a baby
crawhng under its feet.

The program
An extremely complex program
would be needed for the
computer because the robot's job
involves hundreds of choices
A robot servant might need an
artificial or synthesized voice to
based on information, or data,
"speak" to its owner - to ask for a
about the world around it. This
new can of polish, for example.
part of the design, called the
Speech synthesizer chips can be
software, gives the robot
programmed to do this, but it is
"intelligence" so that it can
more difficult to get the robot to
"decide" what to do.
understand the answer because
of the variety of words, sentences
10 [ and accents in our speech.
Arms Design your oysfn
The robot has two arms because it needs
to be able to hold things while dusting
robot
underneath. It could also have a spray-can
Try drawing a robot to do one of
of polish, with a computer-controlled
these jobs:1 Take a dog for a walk. 2
plunger to press the button, fixed to one
Wash the dishes. 3 Mend a puncture
arm. This would avoid the need for a third
in a bicycle tyre.
arm to hold the can.

Sensors
Different kinds of sensors are required for the
robot to do its job: navigation sensors to find its
way around, TV camera "eyes" to so that it can
"see" what is doing, and safety touch sensors
which stop it if it accidently bumps into anything.
All the data from the sensors is sent to the
computer via an interface so that it can control the
robot's actions.

Walking robots
This shows what happens when a robot is built with
different numbers of legs.

One leg
A one-legged robot like this has
tokeep hopping to balance, so it
would not be much good for a job
like dusting.

Two legs
When a two-legged robot takes
one foot off the ground to walk, it
has to balance on one foot. This is
very difficult for the computer to
control.

Three legs
A three-legged robot is very
stable standing still, but as soon as

it takes one foot off the ground to

walk it falls over.
This robot needs at least
four legs to chmb the
Four legs
steep stairs of a house -
something it could not do A four-legged robot walks by
with wheels or tracks. A moving one leg at a time. This
Japanese designer has means it always has three legs on
actually built a four- the ground to balance with.
legged, stair chmbing
robot. 11
 Special purpose robots
These pages show robots which have been specially designed by carefully working out all
need to be able to do for particular jobs. Sometimes factory arm robots can
the things they
be adapted, but other jobs may need a completely new kind of design.

Sheep shearer
Arm robot
This is an experimental
robot specially designed
to shear sheep. The
sheep is held down with
Electric
straps on a cradle and
clippers
shorn with electric
clippers. The robot's
computer gets feedback
from sensors on the
clippers so that it is able
to position them just
above the sheep's skin. If
the sheep wriggles it can
react in less than one ten-
thousandth of a second to
move the clippers away.
An electronic "map" of
the sheep's shape is
stored in the computer's
memory so that can tell
it

the robot where to cut.

Robot patient Robot hand r

This robot patient is designed to respond r
to treatment by students and can even
r
"die" if someone makes a mistake.
w^ Hairy

^
.

Computer-controlled electronic
r-/i ^^ .,
material
components inside the robot can be
programmed to mimic breathing, heart-
beat and blood pressure. Sensors inside
the body measure the efficiency of a ^x
student's treatment.
The picture above shows an
experimental microchip-controlled
Medical equipment
false hand, which is activated by
muscles in the wearer's arm. There is a
microphone in the thumb covered by a
strip of hairy material. The microphone
"listens" for the rustling sound the
material makes when an object is held.
As the hairs are crushed, the sound
stops, which tells the computer the grip IP
is tight enough.
12
 Walking
robot

Robot diver
Underwater robots are extremely
complicated to design. One reason is
that it is difficult to send signals to
control the robot over long distances
under water. This robot diver is carried
near to where it has to work on
undersea pipelines and oil rigs by an
unmanned support craft connected by
a cable to a ship on the surface. Control
signals and TV pictures travel between
the ship and robot, via the support craft.
This robot is able to walk over rough
ground and go up stairs by adjusting
the length of its legs. Inside the plastic
dome at the top is a TV camera which
sends pictures to a computer in the
middle of the robot. The robot can walk
aroimd for about an hour before its
batteries go flat.

Robotics teacher
Hero 1 is a robot designed to teach people at school or in industry about robotics. It is a
mobile and arm robot combined and has lots of different sensors so that students can
discover what they are and how they work. It also has a voice synthesizer which can be
programmed with its built-in computer.
Computer keyboard
Sound detector

Sensors to work out distance

of obstacles.

Light detector

Side panel

13
Robots in spacle
Robots are particularly useful for doing jobs in space because it is such a hostile
environment for humans to work in. In the future robots and other automatic machines
,

may make up most of the space workforce.

Space arm robot

'
The Space Shuttle can be fitted with a long,
folding arm robot ^s part of its equipment
This is used for launching satellites and .•

other machines from its-cargo hold, or

retrieving them from space for repau:. The
arm folds neatly out of the way in the cargo
hold after use.

- — TV camera

Elbow joint
~- Shoulder joint

Cargo hold

Shiny blanket
The arm, called RMS (Remote Manipulator
System), has its own computer which is .

programmed to make 20 different sets'of

movements.lt can also be controlled from
the flight deck with joysticks similar to
those used with computer games. Up to
eight cameras can be positioned on the arm
Each joint is driven by
so that the operator can see what to do.
a tiny electric motor.
The RMS is capable of lifting an object
Sensorson the joints
which would weigh about the same as
tell the computer the
fifteen cars on Earth. It is designed to cope
position of the arrn.
with twice as«nuch in an emergency. If the
arm gets stuck anci prevents the cargo
doors from closing it can be jettisoned into
space. TV camera
A shiny blanket covers the whole arm so
that it reflects the Sun's heat and does not
get too hot. There are also heating elements
inside the blanket to keep the arm warm , Wrist joint
when the Shuttle.is on the night side of Earth.

Satellites
Satellites often include components
likesensors and computers, but are
really automatic machines rather than
robots. The sensors on satellites are
often used to collect data rather than to
Stretchedout, the arm can reach nearly
provide feedback for its computer. as far as the length of two buses put
.together.
 Robot missiles Space probes Weather
equipment
Soil analysis
equipment
\

Soil-collecting scoop

Some kinds of missiles are described Apart from the moon, exploration of
by experts as robots. They are other planets in the solar system and
programmed to reach a target beyond has only been made by robot
automatically using sensors and an on- spacecraft. This is mostly because of
board computer. Cruise missiles, for the time it takes to reach them-
example, use sensors to "see" the Voyager 1 took 18 months to reach
ground below, and then compare this Jupiter, for example. This picture
data with a computerized route map. shows a computer-controlled robot
This enables them to fly very low to landing craft sent to the surface of Mars
avoid radar detection. by Viking 1.

How the arm piclcs things up

* •'
*
. • .

The end of the arm has a special gripping mechanism inside made of diagonally crossed
,

wires, to hold satellites and other cargo. Each piece of cargo has a' shaft sticking out. of one
end. The end of the arm is manoeuvred over the shaft, and then rotated. This twists the
wires around the shaft so that the cargo is pulled tightly against the^e'nd of the arm. The end
of the arm is simply rotated in the opposite direction to release the shaft.
The picture below shows the arm releasing a telecommunication^ Satellite into orbit i^
. HB
above the Earth.

Endgripper
 Micro-robots
A micro-robot is a small robot controUed by
a home computer. You can find out how to
make your own micro-robot on page 38.

Drawling robot
The Turtle is a mobile robot which can be
programmed to draw with a pen as it moves
around. A computer language called LOGO
makes the robot move in units of about
1 .5mm at a time. LOGO uses commands like

"F 10" for forward 10 units, or "R 90" for right

90 degrees, to draw simple shapes like
squares or triangles. The commands are
used to combine a series of simple shapes
to make pictures.
Each unit the Turtle moves is measured
by a sensor mounted over a cog on each
wheel. A tiny lamp on one side shines a
beam of light between the teeth of the cog
into a photoelectric cell on the other side.
The teeth break the beam of hght as the
wheel rotates. Each break in the light path is
detected by the photoelectric cell, which
sends a message to the computer to count
one unit.

Hovi^ to connect up a
micro-robot
These pictures show how a micro-robot
arm is connected to a home computer and
to a power supply.
Power lead ^
for transformer -^

Most micro-robots are driven by low

voltage electric motors, so a
transformer or batteries are used to
power them. This power supply is
usually connected to an electronic
interface.

very
It is
dangerous to

Wires, known as control lines, which

control the robot's motors, are plugged
"
plug a micro-
robot into mains
electricity.
V
into a socket in the computer, called a
port. (Not allhome computers have the
right ports to be able to do this.) One
wire is often used for each motor.
16 Bar codes laid out in a long line.

^^
Dray\f like the Turtle

The interface is connected to the

robot's motors. It is made of electronic
components which switch the power to
the motors on and off when the
computer sends signals to them. This micro-robot arm is called Armdroid,
Sometimes this circuit is in a separate and is driven by six electric motors. It is
box, but it can be inside the robot or the used for learning about robotics, or for
computer. doing very light work.

Buggy
Circuit board
The robot on the left is called the BBC
Buggy. It is made from Fischertechnic
construction kit parts, so it can be added to
by building extra bits, like an arm, on top.
A sensor, called an infra-red transceiver,
-is fixed to the front. This works by
^^transmitting invisible infra-red light down to
le ground, and then receiving it back when
it is reflected by the surface the robot

travels over.
The computer can be programmed to use
the data from the infra-red transceiver to
"see" a line, and tell the robot to follow it, or
"read" a bar code like the one in the picture.
The computer translates the bar code into
musical notes and can play a tune by going
over a series of codes laid on the floor.
Different kinds of sensors can be plugged
into the front of the circuit board on top of
the Buggy. Bumpers make the robot
reverse automatically when it bumps into
something. 17
Robot factory vi^orkers
It islikely that very soon there will be almost totally uiunanned factories. Perhaps just one
or two people will program or monitor the computers and carry out routine maintenance to
robots and other machines.
Ceir plants are currently among the most highly automated factories in the world. This
picture shows how robots and other automatic machines, like conveyor behs and stackers,
are used alongside each other to assemble and manufacture parts for cars.

Computers in
Welding station metal cabinets

The framework built over the

conveyor, shown on the right is called a
welding station. It has six robots fixed
to it holding welding guns. As car body
panels, which have been hghtly tacked
together elsewhere in the factory, pass
below, the robots weld them together
to make a tough, rigid car bodies. As
there are six robots working together,
they can assemble cars very quickly.

Machining centre
The robots below are part of a system
called a machining centre, or cell. One
robot unloads heavy lumps of steel
ready for the other robot which
"serves" the two automatic lathes. A
computer is in charge of the computers
controlling the robots, lathes and
conveyors to make sure each machine
does the right thing at the right time.
This is very important because
otherwise the robots could collide, or
damage the lathes.

Lathe The computer-controlled lathes could

Finished Conveyor belts
parts V be programmed to make many
I

different parts - for gearboxes, axles,

engines and so on. The "serving" robot
loads the raw steel into the lathes and
then unloads the fiiushed part onto the
conveyor for assembly or finishing in
another part of the factory.

The robot on the left unloads the steel

from an automatic shuttle, which is like
a tiny flat truck on rails. The truck
carries the steel on a pallet - a wooden
or metal platform used to stack
materials for transport.
 Paint shop
The area of the factory on the right is called the paint
shop. The tops of the cars have been sprayed further
down the line by other robots. Now, at this end of the

1 conveyor, a robot sprays protective underseal on the

bottom of each car.

Robot truck
Running alongside the paint shop is a robot fork-lift
truck moving goods around the factory. It is guided
by signals from underground cables according to a
route programmed in its computer. This truck could
still be used by a driver, but others are designed only

to work automatically.

Automatic stacicer Control room

The orange machine above is called an Above is the control room where all the
automatic stacker. It is programmed to automatic operations being carried out
place partly completed cars in a rack in the factory are controlled and
until they are needed. It saves floor monitored. The computers here
space because it stacks things organize all the separate computers
vertically. The same kind of computer- controlling the robots and other
controlled stacker is used in Japanese machinery. Someone watches display
cities to park bicycles. Some experts screens to check that all the machines
say these are robots because they can are working properly and that
be programmed to stack different production targets are met. Systems
things, but others disagree. like this are already in use.
 L
Hovi^ to teach a robot Remote teaching
A robot's computer has to be givfen a set of instructions Robots can be taught
called a program to get it to work. This is done either by remotely with a computer
guiding the robot through a sequence of movements, keyboard, or a simplified
and programming the computer to remember them, or keyboard called a teach
by instructing the computer directly with the keyboard, pendant. This is connected
this'way, the robot can be made to "learn" a set of
to the computer and has
I

m< ements, and repeat them over and over again. commands like UP, DOWN,
LEFT and RIGHT, which can
be used to manouevre the
s?^ Sensors robot. It also has a TEACH
button which is pressed to
J make the computer to
remember positions the
operator wants it to know.

* * *

Showing an arm robot

vi^hattodo
One way of teaching a robot is by
guiding its arm through the
movements needed to do a job. This
is called lead-through

programming. The robot in this Direct control

picture is being taught to spray paint
by a person skilled at the job.
Porwcu^ 10
First the computer is programmed Left 90
to remember the movements shown Forward 24
to the robot, and the order they were Left 45
made in. Then the computer is Forward 35
programmed to make the robot
automatically follow the path it was
taught. It is very important that the

computer repeats this exactly,

otherwise the robot would spray
paint in the wrong pattern and make This micro-robot is called
a mess. Sensors on joints send data the Zeaker. It can be
I
computer about robot's position. programmed to move
around, using a computer
language with similar
commands to LOGO. It can
also be used for drawing as
there is a pen fixed under its

^^0
W
body.
 Chocolate-box packer
Talking to robots
For some jobs, like picking things up and
Micro-aim robot putting them down, the robot only needs to
know precisely the points to start and finish
at. The robot can be shown what to do by

being guided to these points, by hand or

with a teach pendant, and then getting its
computer to remember them. The
computer is programmed to work out the
route the robot takes between the points.
Industrial robots are taught to do loading
and simple assembly jobs in this way.

In a factory the box /

would be on a conveyor.

Speech control can be

used by disabled
people unable to use
Microphone a keypad.

People are experimenting with controlling ^^PowveySr'^T^

robots by giving them spoken
instructions. This is done by connecting a Step 1 The robot is guided to the chocolate
:

microphone to the computer via a special and its computer told to remember the point
interface. The interface converts where it has to open and close its gripper.
commands such as "up" or "down" into a
sequence of electrical signals which the
computer is programmed to recognize as
instructions for the robot.

The program, or software, which comes

with the Zeaker lets the user direct its
movements by pressing keys on the Step 2: The robot is guided to the point
computer. A sequence of movements where it has to drop the chocolate into the
can be built up in the computer's box, and the computer instructed to
memory and repeated over and over remember it.
again to get the robot to draw complex
patterns.

Step 3: The stopping and starting points are

now in the computer's memory and it can
Bumpers to detect tell the robot to repeat the movement over

collisions and over again. 21

 Types of arm robot
There are five main types of arm robot, Jointed-ann robot
each designed to be able to move in
different ways according to how its
moving parts are put together. The design
of a robot is called its architecture, and the
space it can move aroimd in as a result of
its design is called its working envelope -

shaded blue on these pages.

Jointed-arm robots
The design of a jointed-arm robot is base
on the human arm. The one on the right has
a rotating base part which is not able to go
all the way round. The arm is jointed at the
shoulder and elbow and can bend like a
door hinge at both joints. The working
envelope of a jointed-arm robot is shaped
like part of a ball.

Spherical robot Spherical or Polar robots

This type of robot gets its name from the
spherical working envelope it is able to
move in. The main arm part of the robot on
the left moves in and out like a telescope,
and also has a hinge-like joint at the
shoulder. The robot's waist rotates, but it
cannot go round 360°. The design of
spherical robots makes them very strong,
so they are often used to pick up heavy
weights - sometimes as much as the weight
of a car.

/ XYZ robot

XYZ robots
Robots like the one on the right get their
name because they are able to move in
three different directions called X, Y and Z
and have a cube-shaped working
envelope. The robot's side to side
movement on its base is called direction X.
The main arm part goes in and out
telescopically, and this is direction Y. This
part of the arm also moves up and down in
direction Z. The design of XYZ robots
makes them very accurate, so they are
often used to do precise jobs like
22 assenibling things.
Cylindrical
Your vi^orlcing envelope
robots
Try working out the volume of your
own working envelope by imagining
that you are standing inside a
cyhnder with one arm stretched out
to the sideand the other straight
above you. Get a friend to make the
measurements shown in the picture
and put them in place of the letters in
the formula. Your answer should be
in cubic centimetres or cubic inches,
depending on which kind of
measurements you use.
Formula: 3.14xAxAxB = ?
Cylindrical robot

The main arm part of a cylindrical robot

moves in and out telescopically, and is also
fixed to a "pole" at the shoulder so that it can
slide up and down. The "pole" rotates,
although not all the way round, and this
gives the robot a working envelope shaped
hke a cylinder.

Spine robot
This is a new type of robot designed on " Inside its concertina cover are lots of
the same principle as the human spine. discs piled on top of each other. The
The Spine robot can reach almost robot can be made longer or shorter by
anywhere within its working envelope, adding or removing discs. The discs
even back into the centre, so it can work are held together by two pairs of cables
in inaccessible spaces like the inside of which are fixed to pistons in the base.
a car. The arm can also swing right The robot's computer controls the
round in a circle over and over again. spine by moving the pistons to pull on
the cables.

Spine robot

r--
:."X:>"

X \
\ \

Cables
23
Hov\^ robots are driven
Each moving part of a robot is driven
separately, either by cin electric motor or by Hydraulic systems
a hydraulic or pneumatic system. The A hydraulic system works rather like a
speed of the drive must be able to be varied syringe used for injections. It can be used
so that the robot can be controlled to move tomake either circular or straight
quickly or slowly. Mobile robots are usually movements according to the type.
electrically driven, but the kind of drive
used on an arm robot depends on the work
it has to do.

Electric motors
Many different types of electric motor are
used to drive robots. One type, which is
often used, is called a direct current or d.c.

motor. The picture below shows how a

simplified d.c. motor looks inside. The gear
at the bottom of the shaft that goes through
the centre of the motor would be connected The simplest
to part of a robot to drive it. kind is made up
On either side of the motor are of a cylinder
permanent magnets, one with a north and containing liquid, with
the other with a south pole facing the centre. a plunger, called a piston, at
Electricity is passed through the brown both ends. Because liquids
contact on the right, round the wire coil, out cannot be compressed, when one
through the contact on the left and back to is pushed in the other
piston
the battery. This makes the coil an moves out. A system like this has to be
electromagnet, with a north pole on one fixed to each moving part of the robot -
side (shown in green) and a south pole on one like this would make the arm go in and
the other (shown in yellow). out telescopically. Hydraulic systems are
often used on robots designed to hft heavy
Battery Electric current weights.
Hydraulics are also often used instead of
electric motors where there is a danger
sparks from a motor might ignite
that
fumes in the atmosphere of a factory.

Because these poles are the same as the

permanent magnets opposite them, the
wire coil is repelled. When the coil is forced
round half a turn, the parts touching the
contacts will have changed positions, which
again gives the coil a north pole on the right
and a south pole on the left. The permanent
magnets repel the coil again, and the whole
North
process is repeated, over and over again.
The speed of a motor like this can be
reduced or increased using gears. The
speed can also be varied electrically with a
device similar to the foot control on an
electric sewing machine. The strength of a
robot partly depends on the speed of its
Gear wheel motors - usually the slower the motor the
more power it has.
 Pneumatic systems
There are different ways of pushing the
pistons in and out on a hydraulic system - In a pneumatic system, air, or some other
the type used on car brakes, for example, gas, is used to move a mechanical part of
is operated by a person pressing the the robot, often the gripper. simple A
brake pedal. On a robot, however, the system consists of a cylinder with a piston
piston has to be pushed by some inside which is connected to a shaft on the
electrically operated device for the robot. Compressed air is let into one end of
computer to be able to control it. This the cylinder by a computer-controlled
picture shows a device called a solenoid electric valve. The air forces the piston
fixed to a shaft on the end of the piston. forwards, which in turn moves the jaws of
This too has a piston inside which is the gripper. Pneumatic systems are often
pushed in and out by an electromagnet. used for grippers because gases compress
You can see how these work on page 27 and make the jaws "springy".

Piston

Piston
Solenoid

Computer-controlled )
valve Gripper

Hovif to make your ov\^n

pneumatic gripper
You need: an empty detergent bottle, ice-
cream or margarine tub, balloon, two
pencils, thick card, tape, two fine nails or
pins, sharp knife, scissors.

1. Carefully hammer nails through pencils

halfway along. Wiggle them arovmd to
make them loose. Cut two squares of card
as shown.

2. Cut holes in front and hd of tub in the

places shown here, with sharp knife.

3. Tape card to ends of pencils and push

pencils through holes in the front of tub.
Make sure nails are vertical and tape them
to front of tub.

4. Remove cap of detergent bottle and put

balloon on top. Push through hole in lid and
between pencils. Squeeze bottle to inflate
balloon and move "jaws". 25
 Hands
Some robots have grippers with jaws for
Hov\^ robots hold grasping things. The picture above shows a
gripper with two jaws holding an egg.
things These have to be able to hold an object
without either crushing it or letting it slip.
Arm robots need a gripper, called an end This is difficult to control, the pressiire must
effector, or another kind of tool fixed to their be right otherwise the robot tends to fling
wrist tobe able to do any work. There are the object out of its grasp when it moves
many different kinds of grippers and tools quickly. The jaws in the picture have touch,
and they are often specially designed to do or tactile, sensors on them which tell the
a particular job. These pages explain what computer how tightly they are gripping so
some of them are and how they work. that the correct pressure can be applied.

How robots change tools

A robot may need different tools to do a job and its computer can be programmed to make
it change them automatically. The robot below holds tools with a bayonet fitting, like a

hght-bulb holder, attached to its wrist. The robot lowers the tool to be changed into a
cradle, which holds it while the robot twists its wrist and pulls its arm away. The whole
process is reversed to pick up another tool for the next stage in a job.

Bayonet fitting

Holding hands
Try inventing different
ways for a robot to hold
things. One unusual
method which has been
used is to give the robot
"sticky fingers" with
glue pads.
26
 Magnet grippers
Electromagnet

li

Vacuum grippers
Vacuum grippers, like the ones above, are
often used to pick up fragile objects - glass, Electric magnets, called electromagnets,
or paper sacks, for example. The grippers are sometimes used as grippers for
are rubber cups and air is sucked through picking up metal objects. They are
them in much the same way as a vacuum connected to a supply of electricity and
cleaner. This makes the object stick to the become magnetic only when the power is
gripper. The flow of air is controlled by the switched on by the robot's computer.
computer and the weight the grippers are They lose their magnetism when the
able to hft depends on how powerful the power is switched off, and drop what they
suction is. were holding.

Holding tools Make your own

electromagnet
Many kinds of tools can be bolted directly
to the robot's wrist. The robot below, for You can find out how an electromagnet
example, has a small electric grinder fixed works by making one with a large steel
nail, a length of plastic covered wire and a
to its wrist to take rough edges off pieces of
metal. This method of holding a tool is used battery.

where the robot has to do the same job over Wire wrapped
round nail
and over again without the need for a tool
change.

Electric grinder

Power lead

Electricity
flows round the
wire, making
a magnetic
field around
the nail.Use it
to pick metal
things up with
the tip of the
nail.
 Computer control
Computers are programmed to Control robots by sending them instructions, which take
the form of electrical signals. Computers can also be programmed to react to information
from the robot's sensors. These pages explain how an arm robot's computer instructs it to
assemble things on a conveyor belt. It also shows how messages from a TV camera sensor
make the computer interrupt its instructions to the robot when something goes wrong on
the conveyor - when a sleeping cat comes along, for example. All robots are computer-
controlled and what they can do depends upon the program used.

Computer messages

Analogue
electricity

Most robot motors and sensors work with Computers work using individual pulses
electricity which is a continuous wave - of electricity called bits. There are two
like the shape a skipping rope makes if kinds - "no pulse" bits, written as O, which
two people hold the ends and wiggle the have a very low electric current, and
rope up and down. Information in this form "pulse" bits, written as 1, which have a
is known as "analogue". Computers also stronger current. Information in this form
use electrical signals but the information is is known as "digital" and the Is and Os

in a different form. make up a counting system called binary.

The computer is connected to the robot by The digital instructions sent out by the
eight or more wires called the bus. Many computer go to an interface which has an
computers use groups of eight bits, called electronic switch for each of the robot's
bytes, to represent pieces of information. motors. This picture shows what happens
Each byte is an eight-digit code made up at one switch. The "pulse" bit in the byte
of Os and Is. Bytes of information from the turns the switch for one motor either on or
computer to the motors, and the sensors to off. This allows analogue electricity to flow

the computer, take turns to go along the through the switch and along a wire to the
same bus in opposite directions. This motor. An interface is necessary because
picture shows the eight bits of a byte the motors do not work with digital pulses.
28 travelling parallel to each other along a bus.
 ,

The analogue electricity powers a motor The TV camera sensor on the side of the
- here it makes
in one of the robot's joints arm sends pictures, in the form of
robot's
the arm go down to assemble two things analogue electricity, of the scene on the
on the conveyor. conveyor to the computer.

Analogue/digital
converter

The analogue information from the TV The computer is programmed to analyse

camera is converted into digital the information from the sensor and to
information so that the computer can react by switching the robot off if it cannot
understand it. This is done by an interface identify an object on the conveyor, like a
often called an analogue/digital converter. sleeping cat.

/^^ c\
>

-
-A
1

The computer sends out a The "pulse" bit switches off The whole process takes a
byte with a "pulse" bit to the the analogue electricity split second, so the arm
motor switching interface, flowing through the switch. stops moving in time to
just as it did to turn the motor The motor stops because it avoid harming the cat.
on. has no power.
29
 Sensors
A robot's computer cannot kno^ what is happening to the robot, or whether the robot has
obeyed its instructions, unless it is equipped with sensors. There are two main types -
those the robot uses to "touch" with, called contact sensors, and those used to "see" or
"hear" with, called non-contact sensors.
Sensors work by sending an electric signal to the computer. The amount of electrical
information the sensor sends out, called its output, depends on what the robot's
environment does to it. A microphone "ear" would send a lot of mformation to the computer
if someone standing next to the robot screamed, for example. Generally, the more that

happens to the sensor, the greater its output.

Micro- Hebot robot

switches
The micro-robot on the left is equipped with
Plastic
dome one of the simplest kinds of contact sensor
a switch. There are four switches under the
top of the plastic dome, which is loose.
When the robot collides with something,
the dome touches one of the switches,
which sends a signal to the computer to
reverse the robot's motors.
Hebot can be programmed to move
Motors around like the Turtle and can also be
equipped with a pen to draw pictures. The
pen can be hfted up and down under the
control of the computer.

Touch sensors
Touch, or tactile, sensors tell the computer
when, and by how much, the robot is touching
something. These sensors are often used on
grippers and on the bumpers, or fenders, of
mobile robots. The computer needs feedback
from these sensors so that it can control the

i-^-i Electricity A hght load on the sensor allows a

small amount of current to pass
from one electrode to another.
Electrodes

v^ t V
robot not to crush whatever it touches. The
picture above shows a tactile sensor made from
a sandwich of a special foam rubber between
two pieces of metal that conduct electricity,
called electrodes. When nothing is touching the
electrodes, the foam in the middle stops
electricity running from one to the other. When
the sandwich is squeezed, some of the A heavy load squeezes the sensor
electricity gets through, and this is converted by more and lets a lot of electricity
the computer into a measurement of pressure. pass across the electrodes.
30
 Another touch sensor Wires to computer Optical

This tactile sensor works by using two

A Out
optical fibres inside a cylinder. Optical
fibres are thin tubes of glass used to
transmit hght. The cyhnder has a flexible
mirror at one end and two holes in the
other. A lamp shines a beam of hght down
one fiibre onto the mirror, which reflects it
up the other fibre, and into a photoelectric
cell. This detects the amount of reflected
light. When the flexible mirror is pressed,
less light is reflected into the photoelectric
cell. The computer can convert the
amoimt of reflected light into a
measurement of pressure on the mirror.

Vision
One of the most powerful non-contact
sensors is vision. The picture on the right
shows a kind of camera, called a solid state
camera, connected to a computer. On the
computer screen is the camera's view of a
face.
The camera "views" an object with a grid
of small, square, light-sensitive cellseach of
which corresponds to a square on the
screen. Each cell is electrically charged.
Light areas of an object viewed with the
camera make the cells lose a lot of their
charge, while dark areas only make them
lose a little. The computer converts the
charge on each cell into a square of light on
the screen.
Solid-statecameras often
have over 65,000 cells. Camera

This robot has a camera fixed

near its gripper to "look"
for imperfect biscuits. Its
computer analyses what the
robot "sees" and instructs
the robot to remove biscuits
from the conveyor which
are not up to standard.

Robot's eye view of

biscuits on a conveyor belt
Hov\^a robot knov\^s v\^here it is
These pages explain how two different kinds of sensors are used to make measurements
which tell robots where they are. Environmental sensors measure by how far a robot is from
something else and positional sensors measure by how much part of a robot has moved.

How a mobile robot knovi^s vi^here it is

A mobile robot has to be equipped with on an experimental tractor. works by
It

environmental sensors which measure transmitting a "bleep" of sound and then

distances between the robot and other receiving its echo which bounces back
objects to find out where it is. One way of from surrounding objects. The robot's
doing this is with an ultrasonic sensor which computer works out a distance from the
makes "time of flight" recordings. The time it takes for the echo to come back.
picture below shows an ultrasonic sensor

Puzzle
Sound travels about 330 metres
(about 360 yards) in one
second. It takes 1 Vz seconds
for the sound to go from this
robot's sensor to the tree and
back again. How far away is
the tree from the robot?

Hov«^ robots measure bends

An arm robot's computer needs to know
that the robot has carried out its instructions
by finding out the position of the arm.
This robot has sensors on each of its joints
which measure how much it has bent its arm
and wrist. The sensor, called an optical
position encoder, sends a digital message
to the computer which it converts into an
angular measurement. The sensor has two
parts - a flat disc with marks on it, and a
reading head which "reads" the marks.
Each segment on the disc represents a
number in binary code. The disc is attached
Wire to computer to a part of the robot which moves, and the
reading head is fixed to a part which stays
still. As the robot bends its arm a different

number is "read" from the disc and this

Wire to computer number is sent to the computer.
Hovt^ an arm robot knows yvhere it is

Sensors can be fixed to an arm robot to give its computer arm-movement measurements.
Some sensors are used to make straight-line measurement, and others to measure angles.

One way of making measurements is with a

sensor called an electrical potentiometer.
This works like a dimmer switch by varying
the amount of electricity passing along a
wire. The amount of electricity getting
Wire
through the wire can be converted into a
Pencil
measurement by connecting it via an lead
interface to the computer.
You can test the principle of a
This long, flat potentiometer using a battery, wire, a
potentiometer fixed lamp and a pencil. Carefully split the
to the robot's pencil down the middle, take the lead out
telescopic arm is
and connect everything together as
able to tell the
computer how far shown. By sliding one end of the wire up
the arm has moved and down the pencil lead, you can vary
in and out. the brightness of the bulb. This happens
because the lead resists the flow of
Gripper electricity.
A special kind of wire which does the
same thing as the pencil lead in the
experiment shown above, is used in a
Wire to computer potentiometer.

Bits to computer
Try working out the codes for
all the segments.
O O I
"On pulse"

Coded disc

Shiny segments

The reading head has three pairs of as O's, and black parts as I's. Segment 1, for

photodetectors and lamps. Shiny white example, would be "read" as 001. This is
parts on the disc reflect the light into the called a 3-bit code because the sensor
photodetectors. Shiny parts are registered sends three bits to the computer.
33
Cybernetics
Cybernetics is the science of cohtrol and communication in both machines and livmg
organisms. The word comes from a Greek word meaning "steersman". It is particularly
concerned with things which are self-controlling, or adaptive. An adaptive system alters its
behaviour because of changes in its environment. For example, George, an automatic pilot
used in aeroplanes alters the course of the plane as a result of changes in the wind speed
,

Artificial intelligence "Intelligent " computer

A closely related field to cybernetics is There are two basic ways of programming a
artificial intelligence (AI) which is about computer. Algorithmic programs - often
making machines do intelligent things. used for robots - work by considering all
Machines have to be able to "think" to do the possible alternatives in a situation.
something intelligent, but experts disagree Heuristic programs are "cleverer" because
about what this means. There are some who they take short-cuts to decisions by
believe that a machine which "learns" from remembering from past experience the
past experience, or responds to things best way to solve a problem. A chess-
happening to it, like George, can be called a playing robot computer could work out the
"thinking" machine. Others argue that for best moves by being given the rules of the
machines to think they must have feelings game, for example. AI programs are often
and want to do things. This would mean that heuristic.
a "thinking" robot, for instance, would have
to want to pack boxes because it enjoyed its Speech recognition
work.
Computer programs are being developed
to give robots the ability to recognize
spoken commands, using a microphone as
Clever machines an electronic "ear". The average adult
knows thousands of words, so it would take
Computers are the cleverest machines a computer with a massive memory to
because by ingenious
available understand even a tiny fraction of them. The
programming they can be made to computer also has to take into account the
simulate, or mimic, intelligent human different ways that people speak. It is much
such as the processing of visual
activity, simpler to program the computer to
information and speech. Computers can recognize only a short list of words, spoken
then be used to control other machines, like by one person, which are needed for the
robots, to make them behave "intelligently". robot's job.

Hovi^ computers recognize

words Wvwww
1.Each word makes wave-like patterns of
sound that are converted by a microphone
into electricity. The waves vary according
E R
to the different sounds in a word.

2.The height of the wave, which is an

electrical voltage, is measured many times

a second. These measurements are

recorded as a sequence of numbers, and
then turned into a digital code of "pulse"
and "no pulse" bits which the computer can
then use to identify the word. The picture on
the left shows how a word like "faster"
would look to the computer.
Vision
Robots are increasingly being equipped with machine
vision which allows them to "see" and behave
The intelligent part of this is not the TV
"intelligently".
camera eye, the computer brain, or the robot, but the
computer program. This analyses and interprets what the
"eye" sees - something which is extremely complicated.
Humans are very selective in what they actually see, and
this is difficult to simulate with a computer. For example, if

you look carefully at this picture you will be able to choose

whether you see either a vase or two faces. Machine vision
could not do this.

iHow robots recognize things

A machine vision system can be programmed to recognize one or more objects. This
shows how an object in a pile can be recognized, so that a vision system can tell a robot
how to pick it up correctly for packing in a box.

The system focuses on one part of the The computer can work out the outline
pile and projects stripes of light over it of one bear from the breaks in the
to judge how far away it is. This stripes of light. It is programmed only to
information is sent to the robot's identify the outline of bears and will not
computer. recognize anything else.

#
/
\<^ 1
---<.

^^
^^^^^^^=^^g
w ^^J^'
By comparing this outline with views of
the bear stored in its memory, the The computer controls the robot to pick
computer can work out the position of the bear up without damaging it or any
the bear in the pile. This information is of the other bears. It then turns the bear
then sent to the robot in the form of way round for packing. This
the right
instructions to its motors. sequence is repeated for all the bears.
35
 Latest developments
Robotics is a fast-moving and exciting Navigation
subject with many research projects going
Industrial
sensors
on around the world. More and more arm mobile
robots are being used in factories along robot
with other automatic machines. Robots are
also being made more "intelligent" by using
more and better sensors together with
clever computer programs for their control.
This means mobile and other kinds of
robots may soon become more familiar - Tactile sensors
perhaps in the home as robot "servants" and on bumpers
in factories too. Robots are also becoming
cheaper - a micro-robot costs about the This is a driverless forklift truck which will
same as some home computers. Some of the be used in an automated warehouse or
latest developments are shown here. factory. It has an on-board computer and
power supply and uses sensors to navigate.

Nuclear reactor robot

Control system
housing computer
Robot servant
Speech synthesizer
O

This robot can be programmed to do things

like serve drinks at a party and speak to
guests with its synthesized voice. Others
are being made which do housework.

Thisarm robot is designed to be used in the A completely automatic robot train has
core of a nuclear reactor. The arm is been builtin Lille, France. The trains are
suspended from a long hollow chain. computer-controlled to switch between
Control cables for the arm pass through the tracks and are programmed to stop
chain. automatically at stations.
36
 Robot computer assistant

This arm robot goes up and down in a Yes-Man is designed to work alongside
honeycomb storage cell to find special humans on a production line. Its arms
cartridges containing computer data. It allow it to do complex assembly work - it
delivers the cartridges to the computer and can even do two things at once. The base
replaces them after use. contains control microcomputers.

Walking robot Modular arm robot

A four-legged walking robot which can Some arm robots are being made in
climb has been buih by Japanese
stairs modules - small units, such as arm, wrist,
scientists. Other researchers are trying out base and so on - that can be combined in
six- and eight-legged designs which walk different ways to make a robot suitable for a
like insects. particular job.

Robot cleaning machine

Twin scrubbing
brushes

A free-roving, industrial floor-scrubbing Androids - robots which look and act like
robot is being developed. As well as humans - are being made, mostly for
navigation sensors, it will probably have a exhibitions and shop displays. This one is
sensor to detect when the water becomes powered by electric motors and hydraulic
dirty. pistons.
37
Build your oysin micro-robot
The next nine pages show how to build a cardboard body over the base, and this can
computer-controlled micro-robot. You be any shape you like. Page 1 shows a
need a computer with a parallel input/ picture of a home-made robot mouse, for
output port to control the robot (see page 46 example.
to find out if your computer is suitable). The The robot can be made to turn left and
project gives step by step instructions on and to go forwards and backwards.
right,
how to make an electronic interface circuit The computer program in this project lets
toconnect the robot to a computer, with you give the robot a sequence of
hintson soldering and components. A instructions to move it in any direction you
computer program is included which will like. By attaching a pen to the robot with
control the robot to move Hke a Turtle or a tape, you can make it draw pictures.
Bigtrak (see page 16). The electronic part of this project is not
The robot is made using a flat base-board easy to build. A single faulty component or a
with two motors, two gearboxes and two tiny mistake could prevent the robot from
wheels mounted on it. It also has a small working. The robot itself can be built using
wheel at the back which stops the robot parts from a construction kit, such as
from tipping up. The wheels are driven by Fischertechnic. The robot below is made in
separate motors, via gearboxes which thisway, but other methods are suggested.
reduce the speed of the motors. The The project may be quite expensive,
computer steers the robot by controlling depending on whether you already have a
the direction of the two motors. See page 6 construction kit. It is a good idea to work out
to see how this works. You could put a the cost of all the components before starting.

You could give your robot Swivelling wheel at

a name - this one is back stops robot
called Rovibot. tipping up.
Motor fixed to
either side of
Gearbox drives baseboard
axle going to
wheel

Separate axle for

each wheel

Wires to computer
 About the electronic
Components for the project components
You can buy components in an electronic The electronic components you buy may
components shop, or you can buy a mail not look the same as the ones drawn in this
order kit of either the electronic or the book.Some components MUST be
mechanical parts for the project from a connected a certain way round. Many
suppher shown on page 46. Ask in your components have marks or tags on them to
local TV repair shop if you are not sure come with
identify particular legs, others
where the nearest component shop is. It is a diagrams. Some diagrams are labelled "pin
good idea to take this book with you. view", which means you have to look at the
component upside down, with its pins
Parts for robot facing you, to identify them.
2 X motors with a voltage range between 3V- 12V
(construction kit motors, like Fischertechnic, are
ideal but you could also use motors from an old
battery-powered toy car, or buy motors from a
model shop).
2 X gearboxes which match the motors (i.e. if
you use Fischertechnic motors you will need the Resistors: These are used to reduce
same make of gearbox). the amount of current in a circuit. It
2 X wheels and axles (make smre they will fit the does not matter which way round they
gearbox). go. Colour coded stripes on the resistor
1 X small swivelling wheel. show how many ohms (written Q or KQ
Baseplate (use a piece of plywood about for 1,000 ohms) it is.
100mm X 200mm x 10mm if you do not have a
construction kit).

Parts for electronic circuit

2 X double-pole changeover relays, coil voltage
6V d.c. , coil resistance greater than 50 Q (250 Q is

best), suitable for 0. 1 inch pitch Veroboard. Stripe this end

1 X single-pole relay with the same
specifications as above (see notes on relays on Diodes: These allow current to flow in one
page 40). direction only - a bit like a one way street
3 X transistors 2N222A, BC 107 or BC 108 or any for electricity. Diodes only work one way
NPN transistor with a current gain (HFE factor) round, so they have a stripe at one end to
greater than 100.
identify which way they should go.
3 X 2.2K n resistors
3 X diodes IN4001, IN4002 or IN4003. (Do not use
Zener diodes).
Veroboard with copper strips, size 0. 1 inch
pitch, 30 tracks x 26 holes or Prototype board,
which you do not need to solder.

Other things you need

Soldering iron, cored solder, wire cutters, wire
strippers, thin-nosed pliers, 22m of thin
electric wire ("bell wire" or stranded wire is Transistors: Transistors are used in
best), electrical tape, dress-maker's pins, this project as switches to turn current
pencils, tracing paper, paper glue, damp on and off. They have three legs, a
sponge,
"collector", an "emitter" and a "base",
4.5mm twist drill.
and they must be connected up the
right way. The centre leg is usually the
Pov\^er supply base and the emitter is usually next to a
Use battery or transformer power supply. DO tag, or other mark, on the case of the
NOT use car batteries or mains electricity as transistor. The transistors in this project
this is very dangerous. The power supply must are switched on and off by the
match the voltage of the motors you use (i.e. 6V computer.
motors need a 6V battery or a 6V transformer). 39
 Relays
Relays are electronic switches, activated by Checkpoint
an electromagnet. Two types are used in The instructions on this project are given for
the project - a single-pole relay with one
sub-miniature relays with the pms in the same
switch inside, and a double-pole relay with positions as those shown on the guide below, as
two switches inside. When the well as the same circuit mside. Check that the
electromagnet is off, the switch, or pins on your relay are in the right positions by
switches, stay in one position. When the putting them over the guides to see if they line up.
electromagnet is on, the magnetic field
pushes the switch into another position. The Single pole Double pole
electromagnets in the relays used in this
• • • •
project are' switched on and off by
transistors.
••
It is not usually possible to see how to
connect a relay by looking at the case or the
pins underneath. Ask for a circuit diagram Ifyour relay does not line up with these
showing the inside. Pin connections vary guides, this is what to do:

according to manufacturer and type of Either: Turn the relay on its back and solder a

relay. These pictures show the type used in

piece of tinned wire (see hints on soldering on
page 4 1 ) about 75mm long to each leg. Look
this projectand their circuits. Look
carefully at the circuit diagram for your relay and
diagram for your
carefully at the circuit
substitute its pin numbers for those shown in the
relays and substitute the pin numbers with project. You can then solder the wires into the
those used below. Unless you do this, your Veroboard instead of the pins.
relay may not match the pin numbers used Or: Look at the circuit diagram at the end of the
in the instructions for the circuit. project and work out a new circuit to suit the
layout of the pins on your relay by looking at the
diagram on page 46.
Sub-miniature change-over
relays
Veroboard
Single pole 4 5

A special board, called Veroboard, is used to

connect the electronic components together.
This has rows of holes m it, with copper strips on
the back linking them together. You push the
legs of the components through the holes and
solder them to this copper track. Electric current
2 4 6 8
can then flow along the track between the
components. Make sure the components do not
touch each other on the Veroboard especially the
,

diagram with your relay says "pin

If the transistors.
view", make sure you identify the pins
40 with them facing you.
 1

Hints on soldering Cored

solder Soldering iron
Soldering is a way of joining two pieces of metal
together, using another metal called solder,
melted with a soldering iron. The picture on the
left shows the things you need. Make sure the

soldering iron is kept propped up when you are

not using it so as not to bum anything.

J^
/^ ©
V^
/^ O y^^\\ ©
^© ^
'-^
Al ©
d(
$
^
ContpOnenC^

3
3
©
© ©
0©
©
1 Push the legs of the
. 2 Turn the Veroboard over,
. 3. Wipe the bit on the damp
components through the holes and bend the legs out slightly, sponge to remove old solder.
on the plainside of the using the pliers.
Veroboard.

/^^older^

W--^^
/>
]\ ^Blt

~-^^p^ ^
4. Touch the bit with solder so 5. Carefully touch the bit on one side of the leg where it touches
that a drop clings to it to "wet" the track, while at the same time touching the solder on the other
it. This is called "wetting" the side of the leg. Hold them there for about one second until a small
bit. blob of solder flows around the leg. Let the joint cool for a few
seconds while the solder hardens.

Wire«aitters -.^^^ / c:>JJ^

/-—yv /Stf-"'''''''^
^

,^/^^3^
'y ^^r'^S
%
/r ^©""S'^'^^^"^^
6.Trim the legs close to the Wires: The ends of pieces of wire should be covered with solder.
solder with wire cutters. Hold This is called "tinning". Stroke the wire quickly with the bit and the
the board away from your face solder at the same time until the wire is lightly coated with solder.
and put your finger on the leg to Tinning is done to get a good connection when soldering. It also
stop it flying up in the air. holds together the strands of stranded wire to stop them unwinding.
Tin the area of wire you have stripped. 4
 Motor control circuit
The motor control circuit enables the computer
switch both motors on or off, or to control each
to
motor independently to go forwards or reverse.
The instructions have to be followed very
accurately for the circuit to work.

Guide V 4.Cut the track with a 4.5mm drill bit at holes H2,
'
Tracks run horizontally H3, H7, HIO, H13, H15, H17, H20, H23, H25, H27,
—— — —- — '— — — — — Q4, 09, 1 9- Hold the bit in your fingers and turn
2 it to remove all the copper from the track.
3
f
5 5. Place a single-pole relay on the Veroboard
with the pins in these holes:
7 I

b Pinl:J2
3 Pin2:J3
10
Pin3:J7
IZ Pin4:G2
13
Pin5:G3
/5 Pin6:G7
/fr
Solder each pin, taking care not to join the tracks
17
y» with solder.
13
20 6. Place a double-pole relay on the Veroboard in
2/
22 these holes and solder each pin.
23 Pinl:G10
24
75 Pin2:J10
7e> Pin3:G13
27 Pin4:J13
20
7*9 Pin5:G15
30 _ _ u_ _ _ Pin 6: J 15
Pin7:G17
1. Photocopy or trace the positioning guide Pin 8: J 17
above, then cut it out.
7.
2. Put a dab.of glue under each comer of the
Place a double-pole relay on the Veroboard in
guide.
these holes and solder each pin:
3. Place the guide on the plainside of the
Pinl:G20
Veroboard by pushing a pin through holes A Pin2:J20
and Z30to help line up the guide with the holes Pin3:G23
and tracks of the Veroboard. Pin4:J23
Pin5:G25
Pin6:J25
Pin 7: G27
Pm8:J27
Relay with wires soldered
to pins

Ifyour piece of
Veroboard is too big,
you can cut it to the right
42 size using sharp scissors,
 A

8. Solder the collector leg of a transistor in hole

M3, the base leg in hole M4 and the emitter leg in
hole M5.

9. Solder the emitter leg of a transistor in hole

M8, the base leg in hole M9 and the collector leg
inholeMlO.

10. Solder the emitter leg of a transistor in hole

M18, the base leg in hole M19 and the collector
leg in hole M20.

11. Solder a resistor with one leg in hole P4 and

the other in hole S4.

12. Solder a diode with the leg nearest the

striped end in hole P2 and the other in hole P3.

13. Solder a diode with the leg nearest the

striped end in hole E 10 and other leg in hole L 10.

14. Solder a resistor with one leg in hole P9 and

the other in hole S9.

15. Solder a diode with the leg nearest the

XY Z
+ 5V computer
^ striped end in hole E20, and the other in hole L20.

16. Solder a resistor with one leg in hole P19 and

Computer control for the other in hole S 19.
robot power.

17. Cut 1 1 lengths of wire about 100mm long.

OV computer Stripeach end about 10mm. Tin both ends of
each wire. Then loop one wire between each of
+ Volts battery or the following pairs of holes and solder them into
transformer
r place as you go:
L2andD10,C2andC13,B13andB23,
Computer control for C10andC20,E15andL17,E17andL15,
motor 1
r E25 and L27, E27 and L25, T5 and T8,
U8 and U 18, M 13 and M23.
- Volts battery or "P
transformer
18. Cut 7 lengths of wire about 3m long. Strip
each end about 10mm and tin one end. Label
Motor 1

r
x^
each wire with a piece of tape as shown in the
white labels on the left. Label the other end of
Motor IB each wire with the same label. Solder the tirmed
end of each wire into the holes shown on the left.
Label each wire as you go, otherwise you might
Computer control for get muddled up.
motor 2

19. Cut 4 lengths of wire about 250mm long. Strip

Motor 2 A
r each end about 10mm and tin one end. Label
each wire with a piece of tape, as shown in the
Motor 2B shaded labels on the left. Solder the tirmed end
of each wire into the holes shown next to these
labels. 43
 How to connect circuit to Computer program
computer, motors and power The computer program opposite allows the
Computer: Connect circuit to computer's robot to go forwards, backwards, left or right, so
parallel input/output port by the wires soldered many units at a time. You will have to experiment
at step 18 in the instructions. You will probably to find out how far each unit is because it

need to buy an edge connector to plug into the depends on the number you set in line 650 of the
port. You can get these from component or program. The larger the number, the further
computer shops. Use computer's handbook to each unit will make the robot go. This menu will
identify pins in the port, and connect up to wires appear on the screen once you have entered the
shown in white spaces in the chart below. program.
Motors: Connect wires soldered at step 19 in the
instructions to the terminals of the motors, as
1 . Tell me what to do
2. Go
shown in shaded spaces in the chart. 3. Clear memory
Power supply: Connect the last two wires
labelled in the chart to the + and - terminals of Ifyou press 1 then RETURN, you can give the
,

your battery or transformer. robot any of these instructions:'Forwards: Press

F, then RETURN, then a number, then RETURN.
Pressing F RETURN 6 RETURN wiD make the
robot ready to go forward 6 units, for example.
Backwards: Press B, then RETURN, then a
number, then RETURN.
Left: Press L, then RETURN, then a number, then
RETURN.
Right: Press R, then RETURN, then a number,
Push the wires through the holes in the pins on then RETURN.
the edge connector and twist them round, Stop: Press S and program will go back to the

making sure that the wires do not touch each menu.

other. Do not solder.
To make the robot carry out your instructions,
press 2, then RETURN. You can give a it

^^ Wire label Connection sequence of instructions, for example, forwards

5, left 3, forwards 6, back 2 and so on. After
^H + 5V computer 5 volt pin of user port pressing 2 to make the robot go, the instructions
will be displayed on the screen as the robot
moves. To give the robot new instructions, press
^H - OV computer volt pin of user port
3, then RETURN.

^1
^M
Computer control
for motor
PB2 pin of user port Adjusting the program
1

Before entering the program in your computer

^H Computer control PBO pin of user port you will need to do some tests to see what
^1 for motor 2
numbers to enter m lines 580, 590, 600, 610, 690
^H Computer control FBI pin of user port
and 740.
^1 for robot power 1. Connect up as shown on this page

2. Type this program into your computer.

Right hand terminal of
^M Motor lA
motor 1
10 ?iFE62=7

20 LET 0L=!(FE60
Left hand terminal of
^M Motor IB
motor
30 INPUT P
1
40 m=p
Right hand terminal of 3. Type the numbers to 7 one at a time. Look to
^M Motor 2A motor 2 see which direction the robot's motors run in
response to each number. Write the number
Lefthand terminal of which makes the motors run in the correct
^1 Motor 2B
motor 2 direction into the program, at the lines shown
below.
^H + volts battery/ + volt terminal of 580 - Both motors forward
^H transformer battery or transformer
590 - Both motors backwards
600 - Motor 1 forwards, motor 2 backwards.
^1
^H
-volts battery/ -volt terminal of
6 10 - Motor 1 backwards, motor 2 forwards
transformer battery or transformer
690 and 740 - both motors off
mHj^^^^^^^"^^^^^^^
THIS PRQGRAH IS WRITTEN FOR THE BBC CONPUTER. THE SYNBOLS IN THE LEFTHAND COLUMN SHQN WHERE CHANGES HAVE TO BE HADE SO THAT IT KILL
RUN ON OTHER COMPUTERS. THESE CHANGES ARE LISTED ON THE NEU PAGE.

Oa 10 •>IFE62=7
<>A 20 LET OL=IFE60 Arranges output and makes space for
30 DIM D(201 instructions to the robot.
40 DIM M«I20)
ji.i G03UB 550
60 CLS
70 PRINT 'ROBOT CONTROL"
80 PRINT
90 PRINT "1. TELL ME WHAT TO DO" • Prints menu on the screen.
100 PRINT '2. GO-
110 PRINT "3. CLEAR MEMORY"
120 PRINT
130 PRINT "TVPE NUMBER"
140 INPUT C
150 IF C(l OR C>3 THEN GOTO 130
Goes to part of the program that
ON C GOSUB 180.440.550
organizes instructions to the robot.
170 GOTO 60

180 LET PC=PS

190 CLS
200 IF PC=20 THEN GOTO 390 Lets you give the robot instructions. If
210 PRINT . you run out of memory for instructions,
220 PRINT "INPUT STEP ";PC
the program returns you to STOP.
230 PRINT "DIRECTION THEN TIME"
240 INPUT M$(PC)
250 IF M$IPCI='S" THEN GOTO 410
2i0 INPUT D(PC)
270 LET P=999
280 GOSUB 580 Analyses the instructions and carries
290 IF P0999 AND D(PC)>0 THEN GOTO 320 . them out as long as they are valid
300 PRINT "HRONG COMMAND" commands.
310 GOTO 220
320 GOSUB 630
330 CLS
340 FOR 1=1 TO PC
Lists instructions given so far on the
350 PRINT "STEP "lU" ;M$(l);" ";D(l)
'

screen.
360 NEXT I

370 LET PC=PCM , Goes back for the next instruction to the
380 GOTO 200 robot.
390 PRINT "NO MORE STEPS"
400 LET M$(PC)="S'
410 LET PS=PC
.If the last instruction is stop, program
420 GOSUB 710
goes back to the menu.
430 RETURN
440 CLS
450 LET PC=1
460 PRINT "STEP "iPC;": "iNKPOj" !D(PC)
470 IF M»IPC)="S" THEN GOTO 520 Carries out instructions to the robot after Go
480 GOSUB 580 '
pressing 2.
490 GOSUB 630
500 LET PC=PCM
510 GOTO 460
520 PRINT "END OF INSTRUCTIONS"
530 GOSUB 710
540 RETURN
550 LET M»I1)="S"
560 LET PS=1
If you press 3, the program clears the last Clear
570 RETURN
'

set of instructions to the robot.

580 IF Mt(PC)="F' THEN LET P=l
590 IF MKPCI = "B" THEN LET P=2
600 IF MtlPCI="R" THEN LET P=0 Looks at the instruction and decides
610 IF Mt(PC)="L" THEN LET P=3 Analyse
what number to output.
620 RETURN
Oi , 630 'OL=P
640 FOR J=l TO D(PC)
650 FOR L=l TO 100
660 NEH L Makes robot move according to the
0^670 IF INKEY»(0)="S" THEN GOTO 740 instructions given to it.
Move
680 NEH J

OA690 ^=4
700 RETURN
710 PRINT "PRESS RETURN FOR MENU"
720 INPUT n .
Waits for RETURN to be pressed. Wait
730 RETURN
>740 •'OLM
.
Stops everything if you press S.
45
750 STOP
 Changes for other A VIC 20 <> ZX81 (Timex 1000)
computers
OlO DELETE O160 60SUB 180*!C=1)+440«!C=2)+550MC=3)
A 10 POKE 37138,7 OA630 POKE OL,P

O20 LET 0L=NUt1BER OF HEHORY LOCATION FOR OUTPUT 670 IF INKEY$="S" THEN GOTO 740
A 20 LET 0L=37136 A 670 GET A$:IF A$="S" THEN GOTO 740
Al>0,190,330,440 PRINT CHR$(147) Oa 690,740 POKE OL,P

Wiring diagram Look at the diagram cirid work out a new circuit if your relays do not suit the mstruaions

Computers you can use v\^ith What to do if the robot does

this project not worl<
BBC Model B Carefully check that you have all the
Commodore VIC 20 components in the correct place and resolder
*SinclairZX81 (Timex 1000) any which look loose. Make sure that all the
*Sinclair Spectrum (Timex 2000) wires are connected properly and that they don't
* You need a special interface for these touch each other. Check you have good
computers. You can buy one by mail order from batteries and the cut-out switch if you are using a
company.
this transformer. If the robot still does not work, get
Colne Robotics Co Ltd, Beaufort Road, off someone else to look at it, as it is easy to miss
Richmond Road, East Twickenham, Middlesex, something. Make sure that your motors work by
TW12P0, England. cormecting them directly to a suitable battery. If
Or you can get a kit (not easy to assemble) from: you still cannot get the circuit to work pack it
Powertran Cybernetics, Portway Industrial carefully (with enough stamps for return
Estate, Andover, Hampshire, England. postage) and send to:
Also look in computer magazines for
Electronics Advisor,
advertisements
Usbome Publishing,
Complete kit of parts for robot and 20 Garrick Street,
circuit London, WC2E9BJ.
You can buy a kit of parts by mail order from:
Bluepond Electronics, Alpha Road, Crawley,
Sussex, England.
Send a stamped addressed envelope to these
46 companies for details of their products.
Robot MSfords
Android: A kind of robot made to lool^ Pitch: The name for the up and down
human. movement in a robot's wrist, which is like
the movement made when using a lever.
Artificial Intelligence: The study of
making machines do "intelligent things". Pneumatic system: A device
Experts disagree on a precise definition of powered by air or another gas to operate a
what counts as intelligence or intelligent mechanical part of a robot - often the
behaviour. gripper.

Degrees off ffreedom: A technical Port: The socket on a computer where

term used to describe the different and other kinds of electronic
interfaces
directions an arm robot can move. Usually, equipment are plugged in.
the more joints a robot has in its arm, the
Program: A sequence of instructions
more degrees of freedom it has.
given to a computer that controls
Feedback: Information about the robot everything the robot does.
or its surroundings that a computer gets
from sensors on the robot.
Robot: A computer-controlled machine
which can be programmed to do different
Gears: These reduce or increase the kinds of things. Experts do not agree on an
speed of a motor. They are used between a exact definition of a robot.
motor and the part of a robot that it drives.
Roll: A name for the movement in a
Gripper: The mechanism fixed to an robot's wrist which goes from side to side
arm robot's wrist to hold things. Sometimes hke rocking a boat.
called an end effector.
Sensor: A device which gives a robot's
Hydraulic system: A device using a computer information either about the robot
specialoil in pipes and cylinders to drive or its surroundings.
mechanical parts of a robot. Often used on
Sonar sensor: Often used for
arm robots.
navigation, these sensors emit a sound and
interface: Used between a robot and then "listen" for an echo to bounce back
its computer to convert electrical signals from obstacles. Distances are calculated by
from the computer into instructions from the the time taken for the sound to return.
robot and vice versa.
Speech synthesizer: An electronic
Lead-through programming: A device, often a chip, which can be
way of teaching a robot by guiding it programmed to produce words and
through the movements needed to do a job. sentences through a loudspeaker. Each
word is broken down into small units of
LOGO: A computer language often used
sound, which are then reproduced digitally.
to program robots which draw, like the
Turtle. Transformer: An electronic device
which converts mains electricity into low
Machine vision: A computer-
voltage suitable for powering things like
controlled device used to give robots a
micro-robots and train sets.
primitive kind of sight.

Navigation: How a computer uses Turtle: A wheeled micro-robot

information from a mobile robot's sensors to programmed to move about and draw,
get the robot from one place to another using a computer language called LOGO.
without bumping into anything.

Odometer: A sensor that measures the Working envelope: The area of

space that an arm robot is able to reach.
distance travelled by a wheeled vehicle.

Photoelectric cell: An electronic Yaiv: The name given to the left and right
device which detects light. These are often movement in a robot's wrist - similar to the
used as part of a sensor on robots. movement made steering a bicycle. aj
 Index
algorithmic programs, 34 infra-red trajisceiver, 17 positional, 32
analogue, 28, 29 "intelligence", 10, 34, 35, 36 36
tactile, 26, 30,
ai\alogue/digital converter, 29 interfaces, 16,21,28,38
8, 9, 15,24,25
shaft, 9,
androids, 37 analogue/digital 29 shoulder, 8, 14
Armdroid, 17 Sinclair (Timex) computers, 46
jaws, 25, 26
arm robots, 8, 12, 13, 14, 24, 32, 33, single-pole changeover relays, 39,
jointed-arm robots, 22
36,37 40, 42, 46
joints, 8, 9, 14, 29
anns,8, 10, 11,32,33,37 solder, 39, 41
artificial intelligence, 34 lead-through programming, 20 soldering, 38, 40, 41, 42, 43
legs, 10, 11 soldering iron, 39, 4
batteries, 13, 16, 39, 43, 44, 46
light detector, 6 solenoid, 25
BBC Buggy, 17 hght-sensitive cells, 31 solid state camera, 3
BBC (Microcomputer), 46
Logo, 16, 17, 20 sonar, 7
Bigtrack, 6, 7, 38
Spectrum (Timex 2000) computer,
binary, 28, 32, 33 machine vision, 35
46
bits, 28, 29, 33 marupulative robot, 4
speech synthesizer, 10
bus, 28 microchip, 3, 12
speed of, 8, 24, 38
bytes, 28, 29 microphone, 3, 12, 34
spherical robots, 22
nucro-robots, 3, 5, 6, 16, 38
20, 36,
cable-following robot, 6 Spine robot, 23
mobile robots, 6, 13, 24, 30, 32, 36
Capek, Karel, 3 steering, 6
modular arm robot, 37
circuit diagram, 40 switches, 28, 30, 39, 40
motor control circuit, 42
components, 12, 17, 38, 39, 40, 41
motors, 10, 16, 29, 35, 38, 39, 44, 46 teach pendant, 20, 2
computer program, 4, 10, 20, 38, 44,
Mr Bill, 7 "thinking", 34
45
time of flight recordings, 32
control lines, 16 navigation, 10, 11,36,37
Timex (Sinclair) computers, 46
control signals, 13 "no pulse" bits,
28, 29, 34
tinning, 41,43
cruise missiles, 15 nuclear-reactor robot, 36
tools, 26, 27
cybernetics, 34
odometers, 7 tracks, 6, 7, 1
cylindrical robots, 23
optical fibres, 31 transformer, 8, 16, 39, 43, 44
degrees of freedom, 8, 9, 36 optical position encoder, 32 transistors, 39, 43, 46
digital information, 28, 29, 32, 34 Turtle, 16, 30, 38
parallel input/output port, 38, 44
diodes, 39, 43, 46 TV cameras, 3, 1 1, 13, 14, 28, 29, 35
photodetector, 33
direct current (d.c.) motors, 24 two-armed robot, 37
photoelectric cell, 16,31
double-pole changeover relays,
pitch, 9 ultrasonic sensor, 32
39, 40, 42, 46
pneumatic system, 24, 25 imderwater robots, 13
elbow, 8, 14 polar robots, 22
Veroboard, 39, 40, 42
electric motors, 8, 14, 24, 37 port, 16
VIC 20, 46
d.c, 24 potentiometer, 33
Viking 1, 15
electromagnet, 24, 27, 40 Prototype board, 39
vision, 31, 35
end effector, 26 "pulse" bits, 28, 33, 34
voice synthesizer, 13
experimental robots, 12, 32
relays, 39, 40, 42, 46 Voyager 1, 15
feedback, 4, 11,30 Remote Manipulator System
waist, 8
Fischertechnic, 1 7, 38, 39 (RMS), 14
walking robots, 1 1, 37
fork-lift truck, 19, 36 resistors, 39, 43, 46
welding, 3, 18
robota, 3
gearboxes, 38, 39 "wetting", 41
robot computer assistant, 37
gears, 9, 24 wheels, 6, 7, 11,38,39
robot mouse, 38
George, 34 wiring diagram, 46
robot servant, 10, 36
grippers, 9, 25, 31 working envelope, 22, 23
robot sheep-shearer, 12
magnetic, 27 vmst, 8, 9, 14, 26, 27, 32, 37
robot train, 36
vacuum, 27
roU,9
XYZ robots, 22
hands, 12, 26 satellites, 14, 15
Hero 1, 13 sensors, 3, 5, 14, 16, 20, 28, 30, 37 yaw, 9
heuristic programs, 34 contact, 30
home computer, 16 environmental, 32 Zeaker,21
hydraulic system, 24, 25 non-contact, 30 ZX81 (Timex 1000) computer, 46

The publishers would like to tharUc the Dr George Russell, Heriot- Watt Uitiversity.
following for their help: Milton Bradley Europe.
Artur Fischer (UK) Ltd. Economatics Ltd.
Andrew Lennard, Colne Robotics Co. Ltd.
John Jessop, Jessop Microelectronics Ltd. The name Usbome and the device V^
48 Peter Mathews, Upperdata Ltd. are Trade Marks of Usbome Publishing Ltd.
 USBORNE NEW TECHNOLOGY

This new series is a clear guide to the rapidly expanding field of

new technology. Robotics looks at the world of real robots which
build cars, explore the solar system and carry out many other
difficult and dangerous jobs with great efficiency. Lasers explains
how laser light is produced and shows how its special qualities are
being applied in many areas from medicine to heavy industry. It

also shows how lasers are used to make amazing 3-D pictures
called holograms. The Information Revolution explains v^hy
computers and other new technologies are revolutionizing
communications and covers fibre-optics, cable and satellite
TV, videotex, facsimile transmission, electronic mail and
lots of other exciting developments.
These three books are also available in one 144 page combined volume
The Usborne Introduction to the New Technology.

i^ EDC PUBLISHING,
'A^iX'
USA
Published in the by
8141 E. 44ih Street,
^±r. Tulsa, Oklahoma 74145, USA.

Published in Canada by Hayes Publishing Published in Australia by Rigby 7X

Ltd, 3312 Mainway, Burlington, Ontario, PubUshing Ltd, Adelaide, Sydney, CT
Canada, L7M1A 7. Melbourne and Brisbane. O
O
?r
CO
b
O
ISBN 086020 724 2 3