Precision Programming of Roving Robots: Project-Based Fundamentals of Wheeled, Legged and Hybrid Mobile Robots
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The ServoTeach module is a manually adjustable electronic circuit board, figure 2.1, that derives three independent, variable-angle, control signals for Futaba angular displacement servomechanisms, figure 2.2 that are used as artificial muscles for the robots described in this book. These servomechanisms or ‘servos’ actuate the rotation of an output shaft that pushes or pulls mechanical cranks, levers, links and limbs of the robot that produce locomotion. The ServoTeach module manually positions the servo output shaft to a required angle and the angle value integer number can be read at a computer screen. The integer number is derived from a Basic Stamp2 microcomputer. The number represents fractions of degree units that are calibrated in experiments described in following chapters.