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Day 013.2

Day 013.2 - Forward Kinematics Differential Drive computing...

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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

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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
Forward Kinematics : Differential Drive 2/3/2012 8 computing the rotation about the ICC 1.

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Day 013.2 - Forward Kinematics Differential Drive computing...

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