The robot's movement is controlled by two direct current (DC) gear motors using an encoder. The two motors are driven using a motor driver. The motor driver is interfaced with an embedded controller board, which will send commands to the motor driver to control the motor's movements. The encoder of the motor is interfaced with the controller board in order to count the number of rotations of the motor shaft. This data is used to compute the odometry data of the robot. There are ultrasonic sensors that are interfaced with the controller board in order to sense the obstacles and measure the distance from the obstacles. There is an IMU sensor to improve odometry calculation. The embedded controller board is interfaced with a PC, which does all the high-end processing in the robot. Vision and sound sensors are interfaced with the PC and Wi-Fi is...
Learning Robotics using Python - Second Edition
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Learning Robotics using Python - Second Edition
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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.
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Current Title:
Learning Robotics using Python - Second Edition
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
Assessments
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