Day 012.5 - Forward Kinematics robot with pose [x y ]T...

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robot with pose [ x y θ ] T moving with velocity V in a direction θ measured relative the x axis of {W} : Forward Kinematics 1/31/2012 17 V θ {W} y x
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for a robot starting with pose [ x 0 y 0 θ 0 ] T moving with velocity V ( t ) in a direction θ ( t ) : Forward Kinematics 1/31/2012 18 + = + = + = t t t dt t t dt t t V y t y dt t t V x t x 0 0 0 0 0 0 ) ( ) ( )) ( sin( ) ( ) ( )) ( cos( ) ( ) ( ω θ V θ V cos θ V sin θ
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for differential drive: Forward Kinematics 1/31/2012 19 = + = + = t r t r t r dt
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Day 012.5 - Forward Kinematics robot with pose [x y ]T...

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