Download e-book for kindle: Arduino Robot Bonanza by Gordon McComb

By Gordon McComb

ISBN-10: 0071782788

ISBN-13: 9780071782784

Book Details:

Publisher: McGraw-Hill schooling TAB
Publication Date: 2013-04-03
Number of Pages: 416
Website: Amazon, LibraryThing, Google Books

Synopsis from Amazon:

Create high-tech strolling, speaking, and pondering robots

"McComb hasn't neglected a beat. It's an absolute winner!" -GeekDad,
Breathe existence into the robots of your dreams-without complicated electronics or programming talents. Arduino robotic Bonanza indicates you ways to construct self reliant robots utilizing traditional instruments and customary elements. how one can cord issues up, application your robot's mind, and upload your personal distinct aptitude. This easy-to-follow, totally illustrated consultant begins with the Teachbot and strikes to extra advanced tasks, together with the musical TuneBot, the remote-controlled TeleBot, a slithering snakelike 'bot, and a robot arm with sixteen inches of reach!

  • Get all started at the Arduino board and software
  • Build a microcontroller-based brain
  • Hook up high-tech sensors and controllers
  • Write and debug robust Arduino apps
  • Navigate via strolling, rolling, or slithering
  • Program your 'bot to react and discover on its own
  • Add handheld remote control and instant video
  • Generate sound results and synthesized speech
  • Develop practical robotic hands and grippers
  • Extend plans and upload intriguing features

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Extra info for Arduino Robot Bonanza

Example text

1 Optimization for control accuracy The control of a haptic device can be based on force control, position control or a combination of both. To improve the control accuracy for a robot, the Jacobian matrix condition number κ = J J −1 where Jn×n = trace(JJ T /n) needs to be kept as small as possible at all points in the workspace. The condition number 1 < κ < ∞ is a measure of the Jacobian invertibility (non-invertible for κ = ∞) and determines the accuracy of (a) the end effector force calculated from joint torque measurements that is essential for robot force control3 , and (b) the end effector Cartesian velocity calculated from joint angular velocity measurements that is essential for robot position control4 .

1 Haptic user interface technology In the following, examples of the currently available haptic devices are described. For a more complete survey of haptic devices, see [55]. 1 PHANToM The PHANToM from Sensable Technologies Inc. com) is one of the most commonly used haptic devices and comes in a number of models with different features. 5A provides six DOFs input control. Of the six DOFs of the arm, depending on the model, some or all are force-reflective. 5/6DOF with force feedback capability in all of the six DOFs is shown.

The setup was used to qualitatively examine whether the palpation of soft objects can be done effectively using this method of force reflection. Our experiments showed that a low-stiffness object is compliant with the slave robot position changes, causing the position error to be always small. Since the force reflected to the user is proportional to the position error, in order to have a perceivable force feedback, the corresponding gain should be high. A high gain, however, causes some force to be reflected to the hand even with the slave robot moving in free space due to any control inaccuracies.

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Arduino Robot Bonanza by Gordon McComb

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