Dismiss Notice
Join Physics Forums Today!
The friendliest, high quality science and math community on the planet! Everyone who loves science is here!

Instantaneous Center of Rotation for a Differential Drive Robot

  1. Jun 2, 2013 #1
    Hi,
    I want to find the instantaneous center of rotation of a differential drive robot. Assuming I know that the robot will travel with a particular linear and angular velocity (v,w) I can use the equations (given here http://rossum.sourceforge.net/papers/CalculationsForRobotics/CirclePath.htm ).

    which come out to be

    x_c = x_0 - abs(v/w) sin(\theta_0) y_c = y_0 - abs(v/w) cos(\theta_0)

    I'm using the webots simulator and I dumped gps points for the robot moving in a circle (constant v,w (1,1)) and instead of a single x_c and y_c I get a center point for every point. if I plot it out in matlab it does not look nice.

    Here's an image ...

    the red points in the image are the perceived centers

    https://docs.google.com/file/d/0BzLnU1-OKHh7dmxvbGU1bDFKcFU/edit?usp=sharing

    they just seem to trace the curve itself.

    is there some detail I am missing ? I'm really really confused as to whats happening.

    help please

    I'm trying to figure out the center so I can check whether an obstacle is on this circle or not and whether collision will occur.
     
  2. jcsd
Know someone interested in this topic? Share this thread via Reddit, Google+, Twitter, or Facebook

Can you offer guidance or do you also need help?
Draft saved Draft deleted



Similar Discussions: Instantaneous Center of Rotation for a Differential Drive Robot
  1. Robot Arm (Replies: 2)

  2. Robotic arm (Replies: 2)

Loading...