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Inverse Kinematics Using the ServoTeach Module: A Project-based, Hands-on Solution Using Experimentation

Excerpt

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.

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

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