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ROS Robot Expansion Board📖
1.Expansion board STM32 driver
  • 0. Precautions
  • 1.1 Expansion Board Introduction_V3.0
  • 1.1 Expansion Board Introduction_V1.0
  • 1.2 STM32 Development environment
  • 1.3 Button to control the buzzer to whistle
  • 1.4 FreeRTOS application
  • 1.5 Serial communication
  • 1.6 SBUS model aircraft remote control
  • 1.7 CAN bus communication
  • 1.8 RGB colorful light bar
  • 1.9 Timer interrupt to control PWM servo
  • 1.10 Control serial port servos
  • 1.11 Nine-axis attitude sensor to obtain data
  • 1.12 Control the forward and reverse rotation of the motor
  • 1.13 The timer captures the encoder data
  • 1.14.1 Robot kinematics analysis theory
  • 1.14.2 Mecanum wheel kinematics analysis
  • 1.15 PID control robot movement
  • 1.16 OLED character display
2.Python basic control
  • 2.0 Bind PCB port devices
  • 2.1 Update the firmware of the expansion board
  • 2.2 Turn off the self-starting large program at startup
  • 2.3 Install the Rosmaster driver library
  • 2.4 Buzzer whistle
  • 2.5 Control PWM servo
  • 2.6 RGB colorful light bar special effects display
  • 2.7 Control the forward and reverse rotation of the motor
  • 2.8 Control the movement of the robot
  • 2.9 Control Serial Servo
3.ROS1 Basic Course
  • 1.ROS introduction
  • 2.ROS installation
  • 3.ROS common command tools
  • 4.ROS workspace
  • 5.ROS function package
  • 6.ROS node
  • 7.ROS topic publisher
  • 8.ROS topic subscribers
  • 9.ROS service client
  • 10.ROS service server
  • 11.ROS action client
  • 12.ROS action server
  • 13.ROS custom message reception
  • 14.ROS-launch file
  • 15.ROS-TF transformation
  • 16.ROS parameter service
  • 17.ROS-rviz use
  • 18.ROS-rqt tool usage
  • 19.Topic message recording and playback
  • 20.urdf model introduction
  • 21.gazebo introduction
  • 22.ROS distributed communication
4.ROS1 robot control
  • 0. Bind PCB port devices
  • 1. Package Use the tutorial
  • 2. Package Description
  • 3. Robot keyboard control
  • 4. Robot state estimation
  • 5. Robot imu calibration
  • 6. Robot URDF Model
5.ROS2 Basic Course
  • 1.Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
6.ROS2 robot control
  • 0. Bind PCB port devices
  • 1. Package Use the tutorial
  • 2. Robot information release
  • 3. Robot keyboard control
  • 4. Robot state estimation
  • 5. Robot calibration
  • 6. URDF model
7.RDK X3 course
  • 1. Update the firmware of the expansion board
  • 2. Turn off the self-starting large program at startup
  • 3. Install the Rosmaster driver library
  • 4. Buzzer whistle
  • 5. Control PWM servo
  • 6. RGB colorful light bar special effects
  • 7. Control motor forward reverse
  • 8. Control robot movement
  • 9. Control Serial Servo
Download
  • Rules_File
  • Hardware Info
  • Code
  • 3D Model File
  • RDK Code
  • ROS2_Basic_VM
Download ZIP

Welcome to ROS Robot Expansion Board repository

1.14.1 Robot kinematics analysis theory

14.Kinematic analysis theory of robot

Analyze the kinematics theory of various types of cars, and open the corresponding kinematics theory analysis file according to different cars. Here take the McNum wheel car as an example, please click on kinematic analysis of McNum wheel. PDF to view the relevant content.

The timer captures the encoder data
Mecanum wheel kinematics analysis

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