Precision Programming of Roving Robots: Project-Based Fundamentals of Wheeled, Legged and Hybrid Mobile Robots
7. Inverse Kinematics Using the ServoTeach Module: A Project-based, Hands-on Solution Using Experimentation
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This chapter is written in the style of a project-based, hands-on teaching and learning experiment based tutorial. As such it is very helpful in understanding the inverse kinematic Taylor series equations as defined in chapter 6, eq. 6.1. It is a stand-alone chapter in that it can be used by students to derive an elementary robot leg walking algorithm together with its real-time code.