vb.net barcode reader source code PRINCIPLES OF ROBOT LOCOMOTION in Software

Printer QR-Code in Software PRINCIPLES OF ROBOT LOCOMOTION

PRINCIPLES OF ROBOT LOCOMOTION
Recognize QR Code 2d Barcode In None
Using Barcode Control SDK for Software Control to generate, create, read, scan barcode image in Software applications.
Encode Denso QR Bar Code In None
Using Barcode generation for Software Control to generate, create QR Code ISO/IEC18004 image in Software applications.
Steering and Drive Wheels
QR-Code Recognizer In None
Using Barcode recognizer for Software Control to read, scan read, scan image in Software applications.
Creating QR Code In Visual C#.NET
Using Barcode encoder for .NET Control to generate, create QR Code 2d barcode image in .NET applications.
FIGURE 18-13 An omnidirectional robot uses the same wheels for drive and steering.
Drawing QR Code ISO/IEC18004 In .NET
Using Barcode printer for ASP.NET Control to generate, create QR Code image in ASP.NET applications.
QR-Code Generator In .NET
Using Barcode generator for VS .NET Control to generate, create Quick Response Code image in VS .NET applications.
ing wheel is controlled by a servo motor. Servo motors use a closed-loop feedback system that provides a high degree of positional accuracy (depending on the quality of the motor, of course). Read more about servo motors in 22, Working with Servo Motors.
Printing QR Code JIS X 0510 In VB.NET
Using Barcode creation for .NET framework Control to generate, create QR Code image in .NET framework applications.
Barcode Maker In None
Using Barcode generator for Software Control to generate, create barcode image in Software applications.
18.10.4 OMNIDIRECTIONAL
Generating EAN-13 Supplement 5 In None
Using Barcode creation for Software Control to generate, create EAN-13 Supplement 5 image in Software applications.
Painting Bar Code In None
Using Barcode creation for Software Control to generate, create bar code image in Software applications.
To have the highest tech of all robots, you may want omnidirectional drive. It uses steerable drive wheels, usually at least three, as shown in Fig. 18-13. The wheels are operated by two motors: one for locomotion and one for steering. In the usual arrangement, the drive/steering wheels are ganged together using gears, rollers, chains, or pulleys. Omnidirectional robots exhibit excellent maneuverability and steering accuracy, but they are technically more difficult to construct.
Encode ANSI/AIM Code 39 In None
Using Barcode drawer for Software Control to generate, create Code 39 Full ASCII image in Software applications.
UPC-A Supplement 5 Generator In None
Using Barcode printer for Software Control to generate, create GTIN - 12 image in Software applications.
18.11 Calculating the Speed of Robot Travel
Generate Planet In None
Using Barcode generation for Software Control to generate, create Planet image in Software applications.
Decode GS1 - 12 In Visual C#
Using Barcode scanner for .NET framework Control to read, scan read, scan image in .NET framework applications.
The speed of the drive motors is one of two elements that determines the travel speed of your robot. The other is the diameter of the wheels. For most applications, the speed of the drive motors should be under 130 r/min (under load). With wheels of average size, the resultant travel speed will be approximately 4 ft/s. That s actually pretty fast. A better travel speed is 1 to 2 f/s (approximately 65 r/min), which requires smaller diameter wheels, a slower motor, or both. How do you calculate the travel speed of your robot Follow these steps:
Paint Code39 In VB.NET
Using Barcode creator for Visual Studio .NET Control to generate, create ANSI/AIM Code 39 image in Visual Studio .NET applications.
2D Barcode Creation In VB.NET
Using Barcode drawer for VS .NET Control to generate, create Matrix 2D Barcode image in .NET framework applications.
1. Divide the r/min speed of the motor by 60. The result is the revolutions of the motor
Bar Code Creation In Objective-C
Using Barcode encoder for iPhone Control to generate, create bar code image in iPhone applications.
Data Matrix ECC200 Printer In None
Using Barcode drawer for Font Control to generate, create Data Matrix ECC200 image in Font applications.
per second (r/s). A 100-r/min motor runs at 1.66 r/s.
Print Universal Product Code Version A In Java
Using Barcode printer for Java Control to generate, create UPC A image in Java applications.
Scan UCC - 12 In .NET Framework
Using Barcode reader for VS .NET Control to read, scan read, scan image in Visual Studio .NET applications.
2. Multiply the diameter of the drive wheel by pi, or approximately 3.14. This yields the
circumference of the wheel. A 7-in wheel has a circumference of about 21.98 in.
3. Multiply the speed of the motor (in r/s) by the circumference of the wheel. The result is
the number of linear inches covered by the wheel in 1 s.
18.11 CALCULATING THE SPEED OF ROBOT TRAVEL
Path of Robot Square Robot of Same Dimensions as Circular Robot Won't Fit through Opening
Path of Robot
Square Robot of Slightly Smaller Dimensions as Circular Robot Fits through Opening
8.5"
Path of Robot
FIGURE 18-14 A round robot versus a square robot. All things being equal, a round robot is better able to navigate through small openings. However, rounded robots also have less usable surface area, so a square-shaped robot can be made smaller and still support the same on-board real estate.
PRINCIPLES OF ROBOT LOCOMOTION
With a 100-r/min motor and 7-in wheel, the robot will travel at a top speed of 35.168 in/s, or just under 3 ft. That s about 2 mi/h! You can readily see that you can slow down a robot by decreasing the size of the wheel. By reducing the wheel to 5 in instead of 8, the same 100-r/min motor will propel the robot at about 25 in/s. By reducing the motor speed to, say, 75 r/min, the travel speed falls even more, to 19.625 in/s. Now that s more reasonable. Bear in mind that the actual travel speed once the robot is all put together may be lower than this. The heavier the robot, the larger the load on the motors, so the slower it will turn.
18.12 Round Robots or Square
Robots can t locomote where they can t fit. Obviously, a robot that s too large to fit through doorways and halls will have a hard time of it. In addition, the overall shape of a robot will also dictate how maneuverable it is, especially indoors. If you want to navigate your robot in tight areas, you should consider its basic shape: round or square.
A round robot is generally able to pass through smaller openings, no matter what its orientation when going through the opening (see Fig. 18-14). To make a round robot, you must either buy or make a rounded base or frame. Whether you re working with metal, steel, or wood, a round base or frame is not as easy to construct as a square one. A square robot must orient itself so that it passes through openings straight ahead rather than at an angle. Square-shaped robot bases and frames are easier to construct than round ones.
While you re deciding whether to build a round- or square-shaped robot, consider that a circle of a given diameter has less surface area than a square of the same width. For example, a 10-in circle has a surface area of about 78 in2. Moreover, because the surface of the base is circular, less of it will be useful for your robot (unless your printed circuit boards are also circular). Conversely, a 10-by-10-in square robot has a surface area of 100 in. Such a robot could be reduced to about 8.5 in2, and it would have about the same surface area as a 10-in round robot, and its surface area would be generally more usable.
Copyright © OnBarcode.com . All rights reserved.