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Unformatted text preview: centered on the ICC thus, for a small interval of time δ t the change in pose can be computed as a rotation about the ICC ICC R P(t) P(t+ δ t) Forward Kinematics : Differential Drive 2/3/2012 5 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 ICC R P(t) P(t+ δ t)...
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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.
 Winter '11
 BURTON

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