Day 013.2 - Forward Kinematics : Differential Drive...

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

View Full Document Right Arrow Icon
Forward Kinematics : Differential Drive 2/3/2012 6 computing the rotation about the ICC 1. translate so that the ICC moves to the origin of {W} 2. rotate about the origin of {W} 3. translate back to the original ICC = + = y x ICC ICC R y R x ICC θ cos sin = y x y x ICC y ICC x ICC ICC y x
Background image of page 1

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

View Full DocumentRight Arrow Icon
Forward Kinematics : Differential Drive 2/3/2012 7 computing the rotation about the ICC 1. translate so that the ICC moves to the origin of {W} 2. rotate about the origin of {W} 3. translate back to the original ICC how much rotation over the time interval? angular velocity * elapsed time = y x ICC y ICC x t t t t ) cos( ) sin( ) sin( ) cos( ωδ t
Background image of page 2
Forward Kinematics : Differential Drive 2/3/2012 8 computing the rotation about the ICC 1.
Background image of page 3

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

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

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.

Page1 / 5

Day 013.2 - Forward Kinematics : Differential Drive...

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