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4 views

Gyroscope signal when mounted on a deflated tire

Before I do the experiment, I am a bit confused about the expected signals provided by a 3-axis gyroscope (angular velocities vs. time) mounted on the edge of a (slightly) deflated car tire when the ...
0
votes
2answers
30 views

Can Swedish wheels be used in two wheeler configuration?

Can we use any of the Swedish 90°/45° Omni or Mecanum wheels in two wheeler configurations?
2
votes
2answers
173 views

Controllability of a car with a single trailer

I'm studying the kinematic model of a car with a single trailer. This picture shows the system: I started from the following statements: With these constraints, I got the Pfaffian form: And then ...
0
votes
1answer
110 views

State space model

I want to design a LQR controller for my two wheeled mobile robot. While designing the controller, I need to find gain, K for the LQR which this required the state space model of wheeled mobile robot. ...
6
votes
2answers
314 views

Holonomics Movement vs Holonomics Constraint

I'm reading Mechanics of Robotic Manipulation by Matthew T Mason and I stumbled upon the concept of kinematic constraints. The book mentioned about two types of constraints: holonomic and nonholonomic ...
0
votes
1answer
245 views

How to Calculate the Translational and Rotational Velocity of a 4 Wheeled Robot?

I have a robot with a 4 wheel drive using mecanum wheels to allow for more mobility. For the engineering documentation I am looking to find both the translational velocity and rotational velocity of ...
0
votes
1answer
61 views

Is there any robot stability control equation that describes the relation between velocity of the robot and its orientation?

Let’s assume at time t a moving robot (e.g. PIONEER 3-DX) changes it’s steering angle by $25^{\circ}$. Obviously, in order to maintain stability and avoid overturning, the robot must reduce its ...
2
votes
3answers
3k views

How to find kinematics of differential drive caster robot?

I'm working on a little project where I have to do some simulations on a small robot. I my case I'm using a differential-drive robot as one of the wheels of a bigger robot platform (which has two ...
5
votes
2answers
394 views

following a trajectory with LQR controller

We want our wheeled robot to follow a (rather short) trajectory. We wrote an LQR controller, which works well in simulation. However, our robot offers two problems: 1.) The reported state information ...
0
votes
2answers
1k views

Position Control of an Omni Wheel Drive Robot

I want to create a robot that will navigate on a desired path! That path can be a straight line or a circular path with a given radius. I will use 3 or 4 omni wheel drive platform and for positioning,...
1
vote
2answers
1k views

What is a suitable model for four-wheeled differential drive rigid-body robots?

I found a model for 2-wheeled robots here: What is a suitable model for two-wheeled robots? How should I adapt it to a 4-wheeled setting?
3
votes
1answer
108 views

Fit robot simulator to robot

I have odometry data $(x, y, angle)$ of a real two-wheeled robot, who received control commands $(forward speed, angular speed)$. Now I want to code a motion model (in C++ (/ROS)) which should follow ...