vb net barcode scanner Bipedal Walker Robot in Software

Creation QR Code ISO/IEC18004 in Software Bipedal Walker Robot

Bipedal Walker Robot
Scan Denso QR Bar Code In None
Using Barcode Control SDK for Software Control to generate, create, read, scan barcode image in Software applications.
Make Quick Response Code In None
Using Barcode generation for Software Control to generate, create Denso QR Bar Code image in Software applications.
Figure 1310 Side view of circuit board and battery pack attached to robot
Quick Response Code Scanner In None
Using Barcode decoder for Software Control to read, scan read, scan image in Software applications.
QR Generation In Visual C#.NET
Using Barcode drawer for .NET framework Control to generate, create QR Code image in VS .NET applications.
work you may want to build an external regulated power supply for the biped, as I have, and tether the power supply to the robot Keep the unused battery pack on the robot, so you will not have to compensate for the additional weight when demonstrating the robot s walking ability using the battery pack Program When the robot is assembled, you may have to adjust the program slightly There will be slight variances in your servomotor positions as compared to my prototype due to small variances in the construction You only need to add or remove one line in the entire program to make adjustments, and the line is:
Generating QR In Visual Studio .NET
Using Barcode generation for ASP.NET Control to generate, create QR Code image in ASP.NET applications.
Denso QR Bar Code Creation In .NET Framework
Using Barcode creator for Visual Studio .NET Control to generate, create QR Code image in Visual Studio .NET applications.
goto hold
Encode QR Code JIS X 0510 In VB.NET
Using Barcode encoder for Visual Studio .NET Control to generate, create Denso QR Bar Code image in .NET applications.
Printing Code 128 Code Set C In None
Using Barcode generation for Software Control to generate, create Code 128 Code Set A image in Software applications.
The hold subroutine keeps the servomotors locked in their last position The robot stays frozen, giving you plenty of time to look over its position This is the procedure for using that one line and adjusting the program You place that line after each robotic movement Check the position, adjust the movement if necessary, check again, and adjust if necessary until the position is perfect Movement is adjusted by varying the Y1 and Y2 numbers in each movement I cannot imagine the variance being more that 5 points off what the program is showing There are 15 movements to check I would advise letting the robot step through each movement; you will see if there is a problem The robot may either trip on its feet or lose its balance If that happens, you know you have to adjust that movement But you must work it through movement by move
Data Matrix Creator In None
Using Barcode drawer for Software Control to generate, create Data Matrix 2d barcode image in Software applications.
Draw Bar Code In None
Using Barcode maker for Software Control to generate, create bar code image in Software applications.
Thirteen
Drawing Code 3/9 In None
Using Barcode generation for Software Control to generate, create Code-39 image in Software applications.
Print UCC - 12 In None
Using Barcode encoder for Software Control to generate, create GS1 - 12 image in Software applications.
Figure 1311 Front view of robot
Printing Identcode In None
Using Barcode printer for Software Control to generate, create Identcode image in Software applications.
UPC - 13 Maker In None
Using Barcode maker for Office Excel Control to generate, create GTIN - 13 image in Office Excel applications.
ment If you just try to let the walker walk, it will be hard for you to determine which movement (if any) is causing a problem The first thing to check is the start position of the robot Write the goto hold line right after the command Gosub servoout The robot should be level, standing in a position shown in Figs 1311 and 1312 If adjustments are necessary, you need to make them in the initialize vari ables section Once you are satisfied, remove the goto hold line you wrote in the program Place the goto hold line at the end of the First movement Check position, adjust if necessary, then move the goto hold line to the end of the Second movement Continue in this manner until all movements have been checked The way the program is written, the robot will take three steps and then stop You can change the range of B(10) to increase or decrease the amount of steps taken
Data Matrix Printer In .NET Framework
Using Barcode encoder for VS .NET Control to generate, create Data Matrix image in .NET framework applications.
Linear 1D Barcode Creation In Visual C#
Using Barcode creator for VS .NET Control to generate, create 1D image in VS .NET applications.
Subroutines M1, M2, and M3
Universal Product Code Version A Creation In None
Using Barcode drawer for Font Control to generate, create UPC-A image in Font applications.
Code 128C Creator In None
Using Barcode generator for Online Control to generate, create ANSI/AIM Code 128 image in Online applications.
The subroutines M1, M2, and M3 are delay routines These routines slow the servomotor movement, so the movement is smooth Without these routines the
Bar Code Printer In Visual Studio .NET
Using Barcode creator for Reporting Service Control to generate, create bar code image in Reporting Service applications.
Barcode Creation In .NET Framework
Using Barcode encoder for Reporting Service Control to generate, create barcode image in Reporting Service applications.
Bipedal Walker Robot
Figure 1312 Side view of robot
servomotors would jerk into position so quickly that the motion would topple the robot The reason for three routines is that I want to affect two independent servomotor motions at the same time The numbers controlling the servomotor positions could be both (1) decreasing (M1 , ) and increasing (M2 , ) and (2) increasing and decreasing (M3 , ) Hence we need the three subroutines to handle the motion
Bipedal walker program
Declare variables
x1 var byte
x2 var byte
y1 var byte
y2 var byte
lp var byte
Declare array
Thirteen b var byte[12]
Initalize array variables
b(0) = 148 b(1) = 121 b(2) = 204 b(3) = 126 b(4) = 150 b(5) = 178 b(6) = 101 b(7) = 180 b(8) = 0 b(9) = 0 b(10) = 0 b(11) = 0 start:
Holding loop that holds upright position 3 seconds before moving
b(8) = b(8) + 1
gosub servoout
if b(8) < 180 then goto start
b(8) = 0
for b(10) = 1 to 3
Leg movements for one whole step
First movement
x1 = 0 x2 = 4 y1 = 129 y2 = 135 lp = 106 gosub m1
Second movement
x1 = 5 x2 = 6 Take 3 steps forward
Reset loop counter
Right ankle (vertical) Right ankle (horiz) Right knee Right hip Left ankle (vertical) Left ankle (horiz) Left knee Left hip Counter Counter Counter Dummy value
Servomotor 0
Servomotor 4
Tilt right ankle (horiz)
Tilt left ankle (horiz)
Loop counter
Servomotor 5
Servomotor 6
Bipedal Walker Robot y1 = 2 y2 = 70 lp = 140 gosub m3 Third movement x1 = 4 x2 = 7 y1 = 150 y2 = 160 lp = 75 gosub m3 Fourth movement x1 = 1 x2 = 5 y1 = 132 y2 = 200 lp = 90 gosub m3 Fifth movement x1 = 6 x2 = 0 y1 = 85 y2 = 140 lp = 96 gosub m2 Sixth movement x1 = 0 x2 = 4 y1 = 167 y2 = 169 lp = 80 gosub m2 Seventh movement x1 = 6 x2 = 5 y1 = 101 y2 = 178 lp = 95 gosub m3 Left ankle (vert) Left knee Loop counter
Copyright © OnBarcode.com . All rights reserved.