Day 012.3 - similar to differential drive but relies on...

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Differential Drive 1/31/2012 9 velocity constraint defines the wheel ground velocities ) 2 ( ) 2 ( = + = R v R v r ω
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Differential Drive 1/31/2012 10 given the wheel ground velocities it is easy to solve for the radius, R , and angular velocity ω ( ) ( ) ( ) v v v v v v R r r r = + = ω 2
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Tracked Vehicles 1/31/2012 11
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Unformatted text preview: similar to differential drive but relies on ground slip or skid to change direction kinematics poorly determined by motion of treads http://en.wikipedia.org/wiki/File:Tucker-Kitten-Variants.jpg Steered Wheels: Bicycle 1/31/2012 12 d r h 90 ICC f v...
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Day 012.3 - similar to differential drive but relies on...

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