Insights Blog
-- Browse All Articles --
Physics Articles
Physics Tutorials
Physics Guides
Physics FAQ
Math Articles
Math Tutorials
Math Guides
Math FAQ
Education Articles
Education Guides
Bio/Chem Articles
Technology Guides
Computer Science Tutorials
Forums
General Engineering
Mechanical Engineering
Electrical Engineering
Aerospace Engineering
Nuclear Engineering
Materials Engineering
Trending
Featured Threads
Log in
Register
What's new
Search
Search
Search titles only
By:
General Engineering
Mechanical Engineering
Electrical Engineering
Aerospace Engineering
Nuclear Engineering
Materials Engineering
Menu
Log in
Register
Navigation
More options
Contact us
Close Menu
JavaScript is disabled. For a better experience, please enable JavaScript in your browser before proceeding.
You are using an out of date browser. It may not display this or other websites correctly.
You should upgrade or use an
alternative browser
.
Forums
Engineering
Mechanical Engineering
Heading as a function of wheel rotations
Reply to thread
Message
[QUOTE="fishingspree2, post: 3234369, member: 105693"] Hello, I have a three robots which consists of two motorized wheels and a skid wheel. The two motorized wheels are on the front of the robot. I am trying to find the change in heading of the robot based on the previous state. I have found out that ΔHeading = [(ΔD[SUB]L[/SUB]-ΔD[SUB]R[/SUB])*radius of wheels]/wheelbase. where ΔD is the difference in wheel rotations between t[SUB]i[/SUB] and t[SUB]i-1[/SUB]. I have a feeling that this is not correct, since the axis of rotation changes depending on the angular velocity of each wheel. For example, if one of the wheels is at rest while the other rotates, then the axis of rotation of the robot is the wheel at rest. If the two wheels are rotating in opposite direction, then the axis of rotation of the robot is halfway between the two wheels. The formula I have derived does not take this into account. Can anyone point me in the right direction? Thank you [/QUOTE]
Insert quotes…
Post reply
Forums
Engineering
Mechanical Engineering
Heading as a function of wheel rotations
Back
Top