Day 012.4 - Forward Kinematics 1/31/2012 16 serial...

Info iconThis preview shows pages 1–4. Sign up to view the full content.

View Full Document Right Arrow Icon
Steered Wheels: Bicycle 1/31/2012 13 important to remember the assumptions in the kinematic model smooth rolling motion in the plane does not capture all possible motions http://www.youtube.com/watch?v=Cj6ho1-G6tw&NR=1#t=0m25s
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Mecanum Wheel 1/31/2012 14 a normal wheel with rollers mounted on the circumference http://blog.makezine.com/archive/2010/04/3d-printable-mecanum-wheel.html
Background image of page 2
Mecanum Wheel 1/31/2012 15 AndyMark Mecanum wheel specification sheet http://d1pytrrjwm20z9.cloudfront.net/MecanumWheelSpecSheet.pdf
Background image of page 3

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Background image of page 4
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: Forward Kinematics 1/31/2012 16 serial manipulators given the joint variables, find the pose of the end-effector mobile robot given the control variables as a function of time , find the pose of the robot for the differential drive the control variables are often taken to be the ground velocities of the left and right wheels it is important to note that the wheel velocities are needed as functions of time; a differential drive that moves forward and then turns right ends up in a very different position than one that turns right then moves forward!...
View Full Document

Page1 / 4

Day 012.4 - Forward Kinematics 1/31/2012 16 serial...

This preview shows document pages 1 - 4. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online