Learning robotics using python design, simulate, program, and prototype an interactive autonomous mobile robot from scratch with the help of Python, ROS, and Open-CV
If you are an engineer, a researcher, or a hobbyist, and you are interested in robotics and want to build your own robot, this book is for you. Readers are assumed to be new to robotics but should have experience with Python.
| Otros Autores: | |
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| Formato: | Libro electrónico |
| Idioma: | Inglés |
| Publicado: |
Birmingham, England ; Mumbai, India :
Packt Publishing
2015.
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| Edición: | 1st edition |
| Colección: | Community experience distilled.
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| Materias: | |
| Ver en Biblioteca Universitat Ramon Llull: | https://discovery.url.edu/permalink/34CSUC_URL/1im36ta/alma991009629283006719 |
Tabla de Contenidos:
- Cover; Copyright; Credits; About the Author; About the Reviewers; www.PacktPub.com; Table of Contents; Preface; Chapter 1: Introduction to Robotics; What is a robot?; History of the term robot; Modern definition of a robot; Where do robots come from?; What can we find in a robot?; A physical body; Sensors; Effectors; Controllers; How do we build a robot?; Reactive control; Hierarchical (deliberative) control; Hybrid control; Summary; Chapter 2: Mechanical Design of a Service Robot; Requirements of a service robot; Robot drive mechanism; Selection of motors and wheels
- Calculation of RPM of motorsCalculation of motor torque; The design summary; Robot chassis design; Installing LibreCAD, Blender, and MeshLab; Installing LibreCAD; Installing Blender; Installing MeshLab; Creating a 2D CAD drawing of the robot using LibreCAD; The base plate design; Base plate pole design; Wheel, motor, and motor clamp design; Caster wheel design; Middle plate design; Top plate design; Working with a 3D model of the robot using Blender; Python scripting in Blender; Introduction to Blender Python APIs; Python script of the robot model; Questions; Summary
- Chapter 3: Working with Robot Simulation Using ROS and GazeboUnderstanding robotic simulation; Mathematical modeling of the robot; Introduction to the differential steering system and robot kinematics; Explaining of the forward kinematics equation; Inverse kinematics; Introduction to ROS and Gazebo; ROS Concepts; Installing ROS Indigo on Ubuntu 14.04.2; Introducing catkin; Creating an ROS Package; Hello_world_publisher.py; Hello_world_subscriber.py; Introducing Gazebo; Installing Gazebo; Testing Gazebo with the ROS interface; Installing TurtleBot Robot packages on ROS Indigo
- Installing Turtlebot ROS packages using apt package manager in UbuntuSimulating TurtleBot using Gazebo and ROS; Creating the Gazebo model from TurtleBot packages; What is a robot model, URDF, xacro, and robot state publisher?; Creating a ChefBot description ROS package; Simulating ChefBot and TurtleBot in a hotel environment; Questions; Summary; Chapter 4: Designing ChefBot Hardware; Specifications of the ChefBot hardware; Block diagram of the robot; Motor and encoder; Selecting motors, encoders, and wheels for the robot; Motor driver; Selecting a motor driver/controller
- Embedded controller boardUltrasonic sensors; Selecting ultrasonic sensor; Inertial Measurement Unit; Kinect; Central Processing Unit; Speakers/ mic; Power supply/battery; Working of the ChefBot hardware; Questions; Summary; Chapter 5: Working with Robotic Actuators and Wheel Encoders; Interfacing DC geared motor with Tiva C LaunchPad; Differential wheeled robot; Installing the Energia IDE; Interfacing code; Interfacing quadrature encoder with Tiva C Launchpad; Processing encoder data; Quadrature encoder interfacing code; Working with Dynamixel actuators; Questions; Summary
- Chapter 6: Working with Robotic Sensors
