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OP$"DATA":RE$"DATA":DA$:SC$:CL$:FI$SC$"SCORES":10?5330?+50c?0 |?<<0C>>>30c33> > L3  + scccc0csCsc`Cx [~cccc033sCCcpCLf<  ?>33?330333333~ + 35f3}M SHOPWARE Educational Systems products are guaranteed to function as advertised and in keeping with the documentation which accompanies the software. The diskettes are guaranteed to always be free of defects due to manufacturing, programming, handling 4츘 - " *̆-7Ԕ𿏀!  Հ$ )    &𸟇𜌎# Յ Ȉ  %  Օ lnopqrstuvwxyz{|Ձ\Y  [  TԄ[츘:*(FpՀՀkiՐ!ܜd 𰰀aс ǀa𿇀^ԃ ames are registered >.trademarks of their respective owners. >C >F >}SHOPWARE >$SHOPWARE.N >}TITLE >.Robotics Fundamentals >.Copyright (c) 1989 >.SHOPWARE Educational Systems >$TITLE.N >Y5 >.Text by Donn Leiske >.Art by Wayne Roseberry >C >.Program by >.Steve Luce, Ken Linder >.and Kevin Horne >C >Y5 >.Brand and product nwner! Simply return the disk to SHOPWARE and we will promptly send you a replacement disk. We stand behind our software! SHOPWARE Educational Systems Route 1, Box 330-E Aberdeen, WA 98520 (206)-532-3392 >P >F hjand shipping. If the purchaser uses a backup at all times, and the SHOPWARE diskettes are stored safely, SHOPWARE will replace, without question, any defective SHOPWARE product. >P This service is offered even if the error is a mistake on the part of the o:Հ>T  ]𿏜]Օ]^Յ  Ӏa aՅ Ձiب ĄnՁՀpu 1@BEH@BEH("B (**x C8x@???>82$($($($28>??????@tptptptpttptptDp$t0p0tp|p4p~~~~~~?*U*UUxxx|~~ŝ?xpq?x?pp?8~~~~|}pweikKS}||q?U*U**'?|ycO??pp~`~ ppp~<||}??? ``~Յ`~~~D]]A[SGgO ?GqU*U**  aA|y|~~~~>>^^>>~~~~~~~|'''/+*""&&"&":;+)l*U*UU||||~ ACx(T  T(CCCK'CU*U**iP(Pn (  wTP@PUz**(((**E{(({+Kjw?_Oooogwwwwwwwww7?gooO_?; ppooO_???)? pp~~~~|}}y{{swgooO_???/O/OOm @@@I+@@@h  @@PI P@@@J - ( $D  D PPPP)( RPFU A (U?@@@Z ? 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'$TEXTb% %ALBUM)O~ INDEX~ Systems SW560 5 /SW560A.3/L5 T111 ROBOTICS ROBOTICS FUNDAMENTALS INTRO.FILE 5 Parts Identification SW560 1 /SW560A.1/L1/ T111 Industrial Robots SW560 2 /SW560A.1/L2/ T111 Microcomputer Controllers SW560 3 /SW560A.2/L3/ T111 Robot Control Programming SW560 4 /SW560A.2/L4 T111 Robot Sensing 4 SHOPWARE 0 SHOPWARE.N 1753 TITLE 4698 TITLE.N 7281 .END 7960  Ā@ #*I` `$@`gEDD#@<`~ 4`7L@ ,24Y@@'Xx  x=  9x  x=  @@@8*X@``@@@ 5````````````````` U*U*U U*U*Uxy{~~~{yx~~rs~rr *U*U* *U*U*?_OooO_?'?_OooO_?U*U*U U*U*U~<00$$ 8 LlllllL  *U*U* *U*U*fv~~~~~~>Y@@Y U*U*U U*U*U`GOOG`gOO@L\||||||x1801 *U*U* *U*U*sssssss*ULLLL LLL>n`n~>q366v663q *U*U* *U*U*0cggcpqyc?}9LllgllL U*U*U U*U*U ))!sssLMONLLL00000 *U*U* *U*U*bwwszzx|< go{x{og ?<8:37&, CGO_ *U*U* *U*U* @@~~~| U*U*U U*U*UOOO@OOOOsssssssa?ccc?cccc *U*U* *U*U*9yyyyyyq8998<<99p p U*U*U U*Urur5252ur5rurururururururururururururururururu2525rururur(T*U* *U*U*qqqqU*U*U U*U*U|qwgohhogwq||qwgohhogwq|*U*U* *U*U*??U*U*U U*U*UcsG{s>}ROBOT MICRO- COMPUTER CONTROLLERS Medium and high-tech robots are able to do more complicated jobs than hard automation and low-tech machinery. >>MICRO One thing that has given robots the ability to do difficult duties is the use of computers with robotand dependable functioning of the microcomputer and robot. >>ROM Another vital component required by the MPU is the memory which is used to store information. There are two basic types of memory used by microcomputers. >P `Read Only Memory" (ROM) is a permand day out, forever . . . unless the electrical power is cut off. This clock is very dependable and accurate. >P Without the clock, one part of the MPU might try to do a certain job at the wrong time, therefore the clock is very important to the accurate >>BORD2 The clock is like a conductor in a band or orchestra. The conductor tells the musical group what speed to play the music and makes sure that the different players stay on beat. Likewise, the MPU's clock keeps an even beat minute by minute, day in er important circuits that the microprocessor needs in order to function. The MPU (microprocessor) cannot work all by itself but requires these other circuits to make up the working microcomputer. >>CLOCK One of the most important devices is the `Clock." computer connects the microprocessor to other components and circuits that allow the microprocessor to have and use power, manipulate information data, and control items. >P The microcomputer contains the `brain" of the computer, the microprocessor and oth silicon is one of the most common elements on this planet, it is ideal for making computer chips. >P Microprocessors, though very small, will often have 40 wire leads coming out of it for connecting to other circuits within the computer. >>MICRO The micro the use of the microcomputer. >>CHIP The brain of the microcomputer is microprocessor. This device can be as small as your little fingernail, but have within it thousands of microscopic transistors sandwiched in a tiny chip made of silicon. >P Even though, and remembering where it has been and what it has been doing. Without the microcomputer, the robot would only be able to perform one task and not be changed easily to do something different. >P The robot is able to learn from its mistakes only because ofuters. They can be used to do simple tasks like typing and math to complicated jobs like data bases, bookkeeping, and telecommunications. >P Robots make use of microcomputers for planning the robot's duties, controlling the activities as they are performedt on a desk but is quite expensive and much more powerful than a microcomputer. >>MICRO Microcomputers, on the other hand, make up a very large portion of the computer power in use today. Most small businesses, schools, and many homes make use of microcomp and most powerful computers are called main-frame computers. Government agencies and large corporations often use main frames for high volume computer power needs. >>MINI The next size of computer is called a mini-computer, which can be small enough to sis. The more complicated the duties of the robot, the more it needs computer control. >>INTHECASE The controller in the case of the robot is a microcomputer. >P This is the smaller type of computer of the family of computers in use today. >>MAIN The largestanent kind of storage which is used to store the kinds of data that the computer operator or user would not need to use. >P ROM is usually designed right into the memory chip when it is manufactured. It then cannot be changed without being remanufactured. The information is said to have been `burned" into the chip. >>MOSES An illustration of how ROM works is something written in stone. God is said to have given the Ten Commandments to Moses, written in tablets of stone. This is like a ROM chip. >>BORD2 Thivity, robots now have a seemingly unlimited amount of uses with the addition of the microcomputer to industrial machinery and robotics. >>QUIZ.PIC >.Microcomputer >.Controllers >B >>M 1. On a high tech robot the controller is what device? A. Microcompomputer is called an input device... >C ...and all devices that the robot's computer sends information to is considered an output device. >C >}MICRO Whereas the forerunners of the robot such as hard automation and low-tech machinery were limited to one actugh attached, is considered an I/O device because the arm is not part of the computer itself. >C There is a seemingly infinite number of I/O devices that could be designed for a robot to use and react with. Any device that sends signals into the robot's chat is one to which the computer sends information. >$IO.N A robot might make use of variety of input/output (I/O) devices. Any temperature, light, and sound sensors are I/O devices. A robot may also use a keyboard as an I/O device. >C The robot arm, thocompatible with the outside component. >>IO1 These external devices are called `Input" and `Output" devices. An input device is a device that is outside of the computer that sends information signals into the computer, while an output device is a device ther within the microcomputer. >>INTERFACE The `Interface Adapter" is an inbetween device that helps the microcomputer `talk" to outside devices. >P This adapter makes any needed changes like electrical amplitude so that the signals from the system will be conductors that connect all of the different chips within the computer. >P The bus connects the MPU, the ROM, RAM, and other components together. >P The bus carries the electrical signals that transmit data and control impulses from one component to the otity flowing through the chip. There are some chips, called PROMS, that combine the RAM and ROM capabilities, but the most common memory chips are RAM and ROM. >>BUS1 Another vital part of the microcomputer is the `Bus." This is the collection of wires or to change it. >>BORD2 RAM can store any kind of information and it will be stored there until it is changed or the power is shut off. RAM chips must have electricity to remember the information stored, because the memory is temporary, held by the electrics later, the people voted to raise the speed limit to 65 miles per hour. The law can be changed anytime the people want to vote to do so. >>ROM Just like the ROM, the information is in memory . . . >>RAM ...but the RAM can be changed by the user by votingSEVENTY An illustration of this concept is a highway speed limit law. Freeway highway speeds at one time in the United States were 70 miles per hour. >>FIFTYFIVE But the government decided to change the law to 55 miles per hour. >>SIXTYFIVE Then a few yeardoes not have information stored in it until the operator, computer, or robot adds or changes the data storage. >P This chip is named a RAM because the user can `access" the information `randomly" whenever the user wants and in whatever order is needed. >>er, and it will still have the burned-in information just like it did when it was manufactured. >>RAM There is another type of memory chip that can be changed by the computer operator. This chip is called a Random Access Memory chip (RAM). >P The RAM chip e only way to change ROM is to remanufacture it. A ROM chip will `remember" the information stored within the chip whether the electrical power is on or off. A ROM Chip can be unplugged from the computer, stored for years, then plugged back into the compututer B. Optoelectronic sensor C. Bimetallic sensor D. Interface adapter E. Robot arm >#A High tech robots have microcomputers for controllers. >E >B >P 2. What is the name of the largest of the three types of computers? A. Lap top computer B. Microcomputer C. Mini-computer D. Main-frame computer E. Maxi-computer >#D Main frame computers are the largest of the three types of computers. >E >B >P 3. What device is the brain of the microcomputer? A. Microprocessor B. Miniprocessor C. MacropА8pd XZX n&@`xz{{U*?cAp,}~xxyxyyyxxx|~*=qGq|/xGqCx~]ppvsx~ ( J?_owz}7w)G|a?'~xc?|a??OohM=scK?~z~~~~~~~~ G|9sgL3gO@1c cG`~zzzzzkkk+//>>~zzjk+/?+ ~x` f3LAs;{{{{r@ }uUWuUU_Cx~U$~x`!< O77Lx1z*>* Cx*(~~|@_UU_WU?Cx~+U+? 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What are computer chips made from? A. Plastic B. Rubber C. Silicon D. Lead E. Brass >#C Silicon is used in making chips. >E >B >P 8. What are I/O devices? A. Independent output devices B. Independently oscillating devices C. the computer user. >E >B >P 6. Which memory can be changed by the computer user, allowing for temporary storage of information? A. Read only memory B. Random Access Memory C. ROM D. RIM E. Easy access memory >#B Random access memory can be changeigitizer >#C The clock keeps time for the microcomputer. >E >B >P 5. What is the memory that cannot be changed by the computer operator. A. Read only memory B. Random access memory C. RAM D. RUM E. MPU >#A Read Only Memory cannot be changed by zoom D. Brain stem E. Cerebellum >#A The microprocessor is the brain of the microcomputer. >E >B >P 4. What is the device within the microcomputer that keeps timing for the microcomputer. A. Ticker B. Timer C. Clock D. Electrodigital timer E. 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'%ALBUMo INDEXr $TEXT 19 ROBOT 0 MICRO 1135 INTHECASE 1499 MAIN 3534 MINI 4153 CHIP 4690 CLOCK 5202 BORD2 6964 ROM 7170 MOSES 7855 RAM 9571 SEVENTY 10248 FIFTYFIVE 11153 SIXTYFIVE 12342 BUS1 13578 INTERFACE 14590 IO1 15840 QUIZ.PIC 16792 IO.N 19082 .END 20352 U uu= j konx```pppXXX\TTVVVWWV\Xpp@ @P Jj*j*++nlxp`(@ 0 -==-%5Vs) / 2*)?Xx8!6*0>?=-%Xx8$  > *TU#@@@"@PU: ("* W\pQ%55ue-)*+#@`y\B`HXPQQQX@x`0p`@@pxnkj*j* }U W~0#n|T|&_ _XPPR| ?uU55% #3cA;k+*ol< e1PPT+.,80`@  uRXZ}$P_KJ *jz2H  @  $*+=U @@,@`x^VVWWQRRZX`x`0p`@@pxnkj*j* .>c}5%%55UW~0 + @`8.+*$))*/.,(800`@U% @``p\\Xp`@$zz*++.,80`@``pppX\,  % O @P_TA@5+++nlxp`!7?=-%5Uv;E/*  : H*+UXj p``@@3@p.*+*n$vTT\^\\TWU `pp``@zU*kkjn<@`8.+*+..,(800`@|ZHH[燇dӃl @ ABBCD H*=@X|Xp`@p 0PPX|"*k[D6*jj:vTT\! hr< "z@ <+ ! %ʊ𼼼 ] 偙 ^ ϏÀ _ᘞx Zσ𼿿 #ϏόÏÏ *ᇟ ᇇ  . 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OGQTTU |xxr??p~CWGgH+K+K+K ##(* zxxx||||||*U*U*U*Yrrrpsw7' !,-,-,- * `ppxxx||~~@Q]UUT*T*45 @@`px| * &&&& *  @`pyqaA,m)%@%x x{+(* @` 0@ P(P(P>}BRAIN >.ROBOT >.CONTROL >.PROGRAMMING The microcomputer is the robot's "brain". >P It is capable of doing many operations including storing information, gathering data from Input and Output Devices (I/O devices), adding, subtracting, and comparing info9 BRAIN 0 BORD4 1171 ROM 1381 ROBOTMICRO 2066 RAM 2657 BORD2 3334 MICRO 3540 ADDRESS 3904 QUIZ.PIC 4733 .END 7023 燇dӃl + ! %ʊ𼼼 ] 偙 ^ ϏÀ _ᘞx Zσ𼿿[#ϏόÏÏ *ᇟ ᇇ  . ÏÏÀ? 營營ᇟ 憞ᇀ À ÃÏ灘ᇀ   ᆞ `Ï ϏϏ@@@營營ÀϿ(Ï󃿿7ᆘʊ ₂營怙營憘兕ÏϏÏ GGcq8 ;|~||| ;5?5?5#5充  ?? 0<~~~~~~<C 0 |xppappx||` 4𼌀0q1 8Ё 8x0 Ђ8 x888x0 9ЀEEUu} |xptdlN>^?'#)((*jjz~}U TTTTUuu}!~zj*#jz~~)}uuUu}2~~zjjj*z~=}}}uuuUuuu}$(aqx5 ၕ55& $ @@`U*U*U*`h`00 xyx=<=<=x{SPU | * zzU}}}}}}}}}}*xz xU u* jz~ P@Ņ ps3rmation. >P The computer makes it possible for the robot to make decisions based on information it has received, thus being able to decide on what to do, when to do it, and at what rate to do a given job. >>BORD4 It can react to outside changes such as ligt addresses and what is stored there. The total collection of addresses and stored instructions is called the instruction set. Being able to write custom robotics programs requires being familiar with the instruction set for the specific robot and its comls visitors or the mailman exactly where the house is. >P In the computer's memory there is an address for each location in memory. Permanent and temporary information can be stored at these addresses. >>BORD2 Each computer will have a list of the permanen Instructions 7. Condition Code Instructions >>ADDRESS Instructions can be stored in different places in memory. These locations are kept organized by each location having an address much like houses in a city. >P Each house has a specific address that tel>BORD4 There are seven basic categories of instructions within an instruction set. 1. Arithmetic Instructions 2. Data Handling Instructions 3. Logic Instructions 4. Data Test Instructions 5. Index Register and Stack Pointer Instructions 6. Jump and Branchions of bits. >>MICRO Depending on which type of microprocessing unit the robot's computer uses, there will be about 100 basic instructions that are understood by the robot. This collection of computer robot instructions are called the "instruction set." >n to make up a byte. The order in which the 1's and 0's are arranged will dictate which letter or number is represented by that byte. There are 256 8-bit combinations available. Some more powerful microcomputers use 16 bit words, allowing for more combinat make it easier to understand and remember, but actually a bit is either the presence of voltage (1), or the absence of voltage (0). >P The combination of bits makes up the computer's word called a "byte." Many common computers arrange 8 bits in combinatiocombination of letters make up a word. Likewise with computer language, the smallest amount of information is called a "bit." The language is called "binary" in which a bit is considered to be either valued at 1 or 0. We think of binary bits in this way toom a disk into the computer. >P Programs can then be changed to do varying types of jobs, and when no longer needed they can be erased to make room for more programs. >>BORD2 In the English language, the smallest bit of information is the single letter. A icated to the robot by programs written by the operator. >>RAM These instructions are stored in the computer's RAM (Random Access Memory) chips. These programs can be written by entering the instructions into the computer through the keyboard, or loaded frmemory) chip. These instructions are permanently "burned" into the chip, and are not changed by the robot's operator. >>ROBOTMICRO Sometimes the robot operator needs to custom design instructions that were not built into the robot's brain. These are communtructions given to the robot's computer are called programs. A computer program can be as short as a single line of instructions to a large, complex series of instructions. >>ROM Some of these instructions are programmed into the computer's ROM (read only hts turning on and off, movements of objects near the robot, and changes in temperature. Though the robot with a computer "brain" might seem very smart, it is not able to do anything at all without a human being telling it in advance what to do. These insputer. >>QUIZ.PIC >.Control >.Programming >>M 1. What is the name for a set of instructions that a robot follows? A. Sequel code B. Binary root C. Program D. I/O deviation E. None of the above >#C A program is a set of instructions. >E >B >P 2. A memory chip that has instructions permanently burned into the chip is called what? A. RAM B. ROM C. RUM D. RIM E. REM >#B ROM is the type of chip that is permanent >E >B >P 3. What is the smallest amount of memory available to the computer? ACARLOS DAVID SW560 3 AebabcabbB 1/12/93 GHF HF SW560 4 bBbbbbDbbb 1/12/93 Arithmetic instructions B. Data handling instructions C. Logic instructions D. Index register instructions E. All of the above >#E All of the above are robot instructions. >E >P You have now completed the quiz on ROBOT CONTROL PROGRAMMING. >R >P >F le to store information? A. Condition code B. Data set C. Logic instructions D. Memory addresses E. Stack >#D Addresses tell where to look for stored information. >E >B >P 10. Which of the following is a basic category of robot instructions? A. ion set B. Collection instructions C. Set instructions D. Binary set E. Collection bit >#A The collection of instructions understood by a robot is called an instruction set. >E >B >P 9. What is the term used for the storage places in memory availabinations of 8 bits are there? A. 25 B. 56 C. 625 D. 256 E. 365 >#D There are 256 combinations of 8 bits. >E >B >P 8. There are about 100 instructions that a typical robot understands. This collection of instructions is called what? A. Instruct >B >P 6. A bit is the presence of voltage or no voltage. By what symbols is it represented? A. 1 or 0 B. 1 or 8 C. -1 or +1 D. 8 or 16 E. 1 bit or 8 bytes >#A 1 or 0 are symbolic of a bit being voltage or no voltage. >E >B >P 7. How many combemory, making up one computer word. >E >B >P 5. What is binary? A. Two lines of robot power B. Two robot instructions C. Cousin to the canary D. Computer language E. None of the above. >#D Binary is the language in which the computer "thinks". >E. Bit B. Bite C. Byte D. Bet E. Bat >#A A bit is the smallest amount of memory in the computer. >E >B >P 4. What is the name of the amount of memory used for a computer "word"? A. Bit B. Bite C. Byte D. Bet E. Bat >#C A byte is 8 bits of m