- Holonomic robots can freely move in any direction and the controllable degrees of freedom is equal to the total degrees of freedom. Omni wheel-based robots are an example of holonomic robots. Nonholonomic robots have constraints on its motion, so controllable degrees of freedom will not be equal to the total degrees of freedom. Differential driver configuration is an example of nonholonomic configuration.
- Robot kinematics deals with the motion of the robot without considering the mass and inertia, whereas robot dynamics is the relationship between mass and inertia properties, motion, and associated torques.
- ICC stands for Instantaneous Center of Curvature, which is an imaginary point on the robot wheel axis around which the robot is rotated.
- It is the process of finding the robot's current position from the wheel...
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Learning Robotics using Python
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Learning Robotics using Python
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Overview of this book
Robot Operating System (ROS) is one of the most popular robotics software frameworks in research and industry. It has various features for implementing different capabilities in a robot without implementing them from scratch.
This book starts by showing you the fundamentals of ROS so you understand the basics of differential robots. Then, you'll learn about robot modeling and how to design and simulate it using ROS. Moving on, we'll design robot hardware and interfacing actuators. Then, you'll learn to configure and program depth sensors and LIDARs using ROS. Finally, you'll create a GUI for your robot using the Qt framework.
By the end of this tutorial, you'll have a clear idea of how to integrate and assemble everything into a robot and how to bundle the software package.
Table of Contents (12 chapters)
Preface
Free Chapter
Getting Started with Robot Operating System
Understanding the Basics of Differential Robots
Modeling the Differential Drive Robot
Simulating a Differential Drive Robot Using ROS
Designing ChefBot Hardware and Circuits
Interfacing Actuators and Sensors to the Robot Controller
Interfacing Vision Sensors with ROS
Building ChefBot Hardware and the Integration of Software
Designing a GUI for a Robot Using Qt and Python
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