In the previous chapter, we discussed the selection of the hardware components needed to build our robot. The important components in a robot are actuators and sensors. Actuators provide mobility to the robot and sensors provide information about the robot environment. In this chapter, we will concentrate on the different types of actuators and sensors that we are going to use in this robot and how they can be interfaced with Tiva C LaunchPad, which is a 32 bit ARM micro controller board from Texas Instruments, working at 80 MHz. We will start by discussing actuators. The actuator that we are going to discuss first is a DC-geared motor with an encoder. A DC-geared motor works using direct current and has gear reduction to reduce the shaft speed and increase the torque of the final shaft. These kinds of motors are very economical...
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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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