Day 012.2 - 6 (a) 3 wheels with roll axes intersecting at a...

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Instantaneous Center of Curvature 1/31/2012 5 for smooth rolling motion, all wheels in ground contact must follow a circular path about a common axis of revolution each wheel must be pointing in its correct direction revolve with an angular velocity consistent with the motion of the robot each wheel must revolve at its correct speed
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Instantaneous Center of Curvature 1/31/2012 Dudek and Jenkin, “Computational Principles of Mobile Robotics”
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Unformatted text preview: 6 (a) 3 wheels with roll axes intersecting at a common point (the instantaneous center of curvature, ICC). (b) No ICC exists. A robot having wheels shown in (a) can exhibit smooth rolling motion, whereas a robot with wheel arrangement (b) cannot. Castor Wheels 1/31/2012 7 provide support but not steering nor propulsion two independently driven wheels mounted on a common axis Differential Drive 1/31/2012 8...
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This note was uploaded on 02/13/2012 for the course CSE 4421 taught by Professor Burton during the Winter '11 term at York University.

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Day 012.2 - 6 (a) 3 wheels with roll axes intersecting at a...

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