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Move tricycle in circle during x sec at speed s

  1. Oct 14, 2011 #1
    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
    radius = 30/cos(alpha);
    ICR = [radius*cos(alpha*180/pi)+M(1) radius*sin(alpha*180/pi)+M(2)];
    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. jcsd
  3. Oct 15, 2011 #2
    Does the following look like the right geometry?
     

    Attached Files:

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