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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

Servo angles, S1, S2, S3 as a function of Leg Tip cylindrical coordinates, R, Z, θ

5.1
Introduction: The story so far
5.2
The meaning of ‘Inverse Kinematics’
5.3
Description of the three degree-of-freedom (3dof) leg system
5.4
Microcomputer architecture to control a multi-legged robot
5.5
The Central Pattern Generator, the CPG
5.6
Mechanical system geometry of the 3dof leg
5.7
Kinematics analysis of the 3dof leg system
5.8
Minimising the polar second moment of inertia of the leg system
5.9
Coupled displacement of the leg tip
5.10
Decoupling the leg system
5.11
Deriving an inverse kinematics equation for S1 = f1(R, θ)
5.12
Deriving an inverse kinematics equation for S2 = f2(R, θ, Z) in three stages
5.13
Deriving an inverse kinematics equation for S3 = f3(R, θ, Z) in two stages
5.14
Graphs of S1, S2 and S3 values at boundaries of the cylindrical coordinate frame
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