I studied the forward and inverse Kinematics of the robot and got a clear understanding. I am in the progress of developing my matlab simulation for a two wheeled differential drive robot. The robot moves in a straight line and has been integrated with PID. I want to show by the animation the movement of the robot.
The Vector in Initial Frame = Rotation Matrix Inverse x Vector in Robot Frame My Rotational Matrix is, [0 -1 0; 1 0 0; 0 0 1] since the angle is 90. The Robot Frame is [a; b; c] where a = Total translational Speed = (r x w1)/2 + (r x w2)/2 b = In y direction = 0 c = Total Rotational Speed = (r x w1)/2l + (r x w2)/2l where l = 0.12 and r = 0.033 and w1 and w2 are angular velocities of wheel 1 and 2.
I have w1 and w2 data in a file as
w1 1 2 3 4 5 6 8 9 w2 1 3 4 5 6 7 8 9
I want to run an algorithm in such a way, Mat lab runs the equation and calculate the values of Total translational Speed and Total angular speed in the world frame and plot the graph. I also want to make an animation in such a way a box moves according to this equation. How can I do that? I can run it for one time if I input one value for w1 and w2, But not continuously. Help. Thanks Much.