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Precision Programming of Roving Robots: Project-Based Fundamentals of Wheeled, Legged and Hybrid Mobile Robots

By
Francis Nickols
Francis Nickols
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Yueh-Jaw Lin
Yueh-Jaw Lin
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ISBN:
9780791861912
No. of Pages:
304
Publisher:
ASME Press
Publication date:
2019

A forerunner to (i) hexapod and vehicle motion behaviour patterns in a ground plane and (ii) the use of piecewise truncated Taylor series to solve complicated equations using integer numbers

3.1
Introduction
3.2
Description of tricycle components
3.3
The tricycle microcomputer system
3.4
The dual push-rod mechanism that actuates the tricycle drive wheel
3.5
Kinematic analysis of the push-rod mechanism
3.6
So, what can Basic Stamp microcomputers compute?
3.7
Wheel servo computation algorithm to rotate drive wheel
3.8
How to compute servo angles, LS and RS using the Basic Stamp microcomputer
3.9
Basic Stamp 16-bit integer accurate computational method
3.10
Making the equations in table 3.2 suitable for the Basic Stamp microcomputer
3.11
The Tricycle steering system
3.12
A Planar Odometer that computes vehicle location coordinates, x, y, ϕ
3.13
Odometer algorithm to compute x, y and ϕ
3.14
Programming of the tricycle to undertake a figure-of-eight locomotion path
3.15
Some tips for odometer computing with the Basic Stamp
3.16
Complete PBasic figure-of-eight programming code listing with comments and explanations
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