1
$\begingroup$

I have the formulas to derive the RPM's of each wheel from the robot's linear velocity. Now, I am trying to do the same thing for the acceleration (mainly angular acceleration). For linear acceleration I am always assuming that the linear velocity of the wheels is the same as the robots when the robot is moving on a straight line...according to physics. Am I right?

But angular acceleration seems more complicated, specially when the robot is following a curved path (not necessarily turning in place).

Any readings or ROS packages that deal with this acceleration issue?

Thanks

$\endgroup$
  • 1
    $\begingroup$ possible duplicate of Calculate position of differential drive robot $\endgroup$ – Ian Oct 15 '14 at 14:10
  • $\begingroup$ What about the acceleration? $\endgroup$ – Pototo Oct 16 '14 at 14:56
  • $\begingroup$ Acceleration is just $\frac{{\Delta} v}{{\Delta}t} $, so if you can solve for the position then you have enough data to solve for the velocity and acceleration just by measuring the changes over time. $\endgroup$ – Ian Oct 16 '14 at 20:09

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Browse other questions tagged or ask your own question.