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Learning Robotics using Python

You're reading from   Learning Robotics using Python Design, simulate, program, and prototype an autonomous mobile robot using ROS, OpenCV, PCL, and Python

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Product type Paperback
Published in Jun 2018
Publisher Packt
ISBN-13 9781788623315
Length 280 pages
Edition 2nd Edition
Languages
Tools
Concepts
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Author (1):
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Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
LinkedIn
Lentin Joseph is the Co-Founder of RUNTIME Robotics. He brings over 14 years of experience in Robotics Software Development, specializing in ROS 1 and 2. He has authored and reviewed over 10 books on ROS, computer vision, and embedded systems. Lentin holds a master's in Robotics and Automation from Amrita University, Kerala, and a bachelor's degree in Electronics and Communication Engineering from FISAT Engineering College, Kerala. His passion for teaching Robotics and ROS has also led him to share his insights as a TEDx Speaker.
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Table of Contents (17) Chapters Close

Title Page
Dedication
Packt Upsell
Contributors
Preface
1. Getting Started with Robot Operating System FREE CHAPTER 2. Understanding the Basics of Differential Robots 3. Modeling the Differential Drive Robot 4. Simulating a Differential Drive Robot Using ROS 5. Designing ChefBot Hardware and Circuits 6. Interfacing Actuators and Sensors to the Robot Controller 7. Interfacing Vision Sensors with ROS 8. Building ChefBot Hardware and the Integration of Software 9. Designing a GUI for a Robot Using Qt and Python 1. Assessments 2. Other Books You May Enjoy Index

Robot drive mechanism

One of the cost-effective solutions for mobile robot navigation is the differential drive system. It's one of the simplest drive mechanisms for a mobile robot and is mainly indented for indoor navigation. The differential drive robot consists of two wheels mounted on a common axis controlled by two separate motors. There are two supporting wheels called caster wheels. This ensures stability and weight distribution of the robot. The following diagram shows a typical differential drive system:

Differential drive system

The next step is to select the mechanical components of this robot drive system, that is, mainly motors, wheels, and robot chassis. Based on the requirements, we will first discuss how to select the motor.

Selection of motors and wheels

Motors are selected after a look at the specifications. Some of the important parameters for motor selection are torque and RPM. We can compute these values from the given requirements.

Calculation of RPM of motors

The range of...

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Authors (1)

Profile icon Lentin Joseph
Lentin Joseph
LinkedIn icon
Lentin Joseph is the Co-Founder of RUNTIME Robotics. He brings over 14 years of experience in Robotics Software Development, specializing in ROS 1 and 2. He has authored and reviewed over 10 books on ROS, computer vision, and embedded systems. Lentin holds a master's in Robotics and Automation from Amrita University, Kerala, and a bachelor's degree in Electronics and Communication Engineering from FISAT Engineering College, Kerala. His passion for teaching Robotics and ROS has also led him to share his insights as a TEDx Speaker.
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See other products by Lentin Joseph

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