# Homework Help: Move tricycle in circle during x sec at speed s

1. Oct 14, 2011

### transilvanian

1. The problem statement, all variables and given/known data
I need to get a tricycle to move around a circle (depending on the angle of the front wheel) in matlab (but any mathematical formulae would help).
I have the variables: M (x, y, theta) which is the center point between the 2 back wheels and the angle of the tricycle, the angle phi of the front wheel, the speed in m/s and the duration in s.

2. Relevant equations
The instant center or rotation calculated from the position and angle of the front wheel.
http://en.wikipedia.org/wiki/Instant_centre_of_rotation

3. The attempt at a solution
This is what I got so far... and I am stuck.

function [x, y, theta] = MoveTricycle(M, phi, speed, duration)

front_wheel = [30*cos(M(3))+M(1) 30*sin(M(3))+Xt(2)];
distance = (v * dt)/2*pi;

alpha = 180-phi-90
Angle_ICR = 180-90-alpha;

front_wheel_after(1) = IRC(1) + cos(distance) * radius ;
front_wheel_after(2) = IRC(1) + sin(distance) * radius ;

% I need to find the position of M after the movement...
M = ???

I'm not even sure if the movement part is ok...
Thanks for your help

Last edited: Oct 14, 2011
2. Oct 15, 2011

### Spinnor

Does the following look like the right geometry?

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