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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

Code is generic and can be applied to each and any leg of a Chariot or Hexapod robot. The code is lower level and requires a higher level controller, a Central Pattern Generator, to be described in chapters 10 and 11, to create functionality

9.1
The variables
9.2
Pin output initialisation
9.3
The constants
9.4
Servo constants initialisation
9.5
The main programme starts now
9.6
Twelve Branch vectors to compute the inverse kinematics equations
9.7
Output of the servo values
9.8
The subroutines to compute inverse kinematic equations for S1, S2, S3
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