Académique Documents
Professionnel Documents
Culture Documents
Instructor:
Smriti Chopra
ECE Ph.D. Candidate
Georgia Tech
Glue Lecture 2: Robot Models
Pay attention, this lecture will help you all with Quiz 2!
2
Two models for robots …
(a)
(b)
R
ẋ = (vr + vl ) cos ẋ = v cos
2
R ẏ = v sin
ẏ = (vr + vl ) sin ˙=!
2
˙ = R (vr vl )
L
3
In Action …
4
From one robot model to another …
t = 10s
B
ẋ = v cos
ẏ = v sin
˙=!
A
High level task !
5
From one robot model to another …
t = 10s
B
ẋ = v cos
ẏ = v sin
˙=!
A
6
From one robot model to another …
R
t = 10s
B
ẋ = v cos ẋ = (vr + vl ) cos
2
ẏ = v sin R
˙=! ẏ = (vr + vl ) sin
2
A
˙ = R (vr vl )
L
High level task !
Control design - v,
! vr =
2v + !L
2R
2v !L
Commands sent to the robots -
vr , vl vl =
2R
7
An intuitive example …
For inputs v = 0, ! = constant , find the corresponding angular wheel
velocities vr
, vl
2v + !L
vr =
2R
2v !L
vl =
2R
CL
vr =
2R
CL
vl =
2R
8
Back to our musical bot …
ẋ = v cos
t = 10s
B
ẏ = v sin
A
˙=!
9
Wheel encoders …
• Total N ticks per revolution
tick l
• lD = 2⇡R
N
dt
tick r
•
r = 2⇡R
D
N
Dr + Dl
•
c =
D
2
x0 = x + Dc cos
y 0 = y + Dc sin
0 Dr Dl
= +
L
10
For your general curiosity …
R
ẋ = (vr + vl )cos✓
2
R
ẏ = (vr + vl )sin✓
2
R
✓˙ = (vr vl )
L
x0 = x + Dc cos Dr = Rvr dt
y 0 = y + Dc sin Dl = Rvl dt
0 Dr Dl
= +
L x(t + dt) = x(t) + ẋdt
11
An Odometry example …
If my robot starts at the origin (pos and orientation is 0), where is it
located after 0.1s, given that 10 ticks were recorded for the right wheel
and 6 ticks for the left wheel. Wheel radius is 2m, total ticks is 100,
distance between wheels is 4m.
tick l
Dl = 2⇡R x0 = x + Dc cos x0 = 1.0053 m
N
y 0 = y + Dc sin y0 = 0 m
tick r Dr Dl 0
= 0.1257 rad
Dr = 2⇡R 0
= +
N L
Dr + Dl
Dc =
2
12
Check the forums, and good luck with Quiz 2!
13