Robot control: Contents

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>> Contents
- 1. Introduction
- 2. Building
- 3. Mounting
- 4. Computing
- 5. Robot Control Software

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Contents

>> Contents
- 1. Introduction
  - 1.1 The AL5A project arm
    - 1.1.1 Known specifications
      - 1.1.1.1 Hitec servo motors
    - 1.1.2 Taming the beast
      - 1.1.2.1 First assembly
      - 1.1.2.2 First life
      - 1.1.2.3 Smoothing the joints
      - 1.1.2.4 Untangling the spaghetti
      - 1.1.2.5 Bolting the thing down
      - 1.1.2.6 Controlling the temper
    - 1.1.3 Polishing the diamond
    - 1.1.4 Problems and quibbles
  - 1.2 Conclusion
- 2. Building
  - 2.1 Base rotator
  - 2.2 Gripper orientation
  - 2.3 Wrist rotator
  - 2.4 Wiring
- 3. Mounting
  - 3.1 Work bench
  - 3.2 Power supply
  - 3.3 USB serial adaptor
- 4. Computing
  - 4.1 Ubuntu
  - 4.2 Connecting a USB-serial device
  - 4.3 The Guile environment
- 5. Robot Control Software
  - 5.1 Hierarchy
  - 5.2 Level 1: Raw control
    - 5.2.1 Usage
    - 5.2.2 GUI
    - 5.2.3 Reference
      - 5.2.3.1 move
      - 5.2.3.2 get-software-version
  - 5.3 Level 2: Symbolic abstraction
    - 5.3.1 Usage
    - 5.3.2 GUI
    - 5.3.3 Reference
      - 5.3.3.1 make-robot
      - 5.3.3.2 robot:park
  - 5.4 Level 3: Dynamic state and relative motion
    - 5.4.1 Level 3: Usage
    - 5.4.2 Level 3 GUI
    - 5.4.3 Reference
      - 5.4.3.1 make-robot
      - 5.4.3.2 robot:move
      - 5.4.3.3 robot:park
  - 5.5 Level 4: Arm geometry; collision avoidance
  - 5.6 Level 5: Gripper placement
  - 5.7 Level 6: Lagrangian motion
  - 5.8 Guile
    - 5.8.1 Reason
    - 5.8.2 Introduction
      - 5.8.2.1 Lists
      - 5.8.2.2 Variables, or not
      - 5.8.2.3 Lambda functions
      - 5.8.2.4 Tail recursion

1. Introduction
2. Building
3. Mounting
4. Computing
5. Robot Control Software

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