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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

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.

7.1
Introduction
7.2
Description of apparatus – Overview
7.3
Description of apparatus – Detailed
7.4
Manual control of S1, S2 and S3 servomechanisms
7.5
Steps in programming Leg Tip straight line motion along R-axis at θ=0°, Z=0mm
7.6
Steps in deriving an accurate inverse kinematics equation using 2nd order Taylor series equations
7.7
Increasing the positioning resolution of the leg tip
7.8
Basic Stamp microcomputer maths computation. Some rules, procedures and tips
7.9
Leg tip planar motion: programming the leg tip to travel to any coordinate, R, Z, in the, θ=0° plane
7.10
Programme code listing for knob controlled R, Z positioning of leg tip in θ=0°plane
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