Timeline for "Smooth" inverse kinematics model for 2-wheeled differential drive robot

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when toggle format	what		by	license	comment
Jun 20, 2016 at 20:18	history	edited	JSycamore	CC BY-SA 3.0	Thanks to Chuck for defining inverse kinematics in context and for correcting my response.
Jun 20, 2016 at 18:35	comment	added	Chuck♦		In your equation, you give $\dot{p} = [A][v]$, and your control input is $u = \dot{p}$. Well, the kinematic relationship $[A]$ is where the sine/cosine and wheel base $l$ come into play, so to get the linear and angular inputs you need to send to the system you have to take the inverse of the kinematic matrix $[A]$ to get the inverse kinematic equation $[v] = [A]^{-1}u$.
Jun 20, 2016 at 18:32	comment	added	Chuck♦		This is inverse kinematics. Kinematics is the study of the physical arrangement of a system without regard to forces or dynamics. That is, if you move a joint some angle $\theta$, how much of a translation and/or rotation does that create at some other point? Inverse kinematics is the opposite - what joint angle $\theta$ does it take to achieve a desired translation or rotation at the other point? Or, in this case, what wheel speeds does it take to achieve a desired trajectory? You're almost (but not quite!) to the answer.
Jun 20, 2016 at 16:26	history	answered	JSycamore	CC BY-SA 3.0