Mobile Robotics : Assignment

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2002 - © Pedro Lima, M. Isabel RibeiroRobótica MóvelKinematics Models
KINEMATICS MODELS OFKINEMATICS MODELS OF
MOBILE ROBOTSMOBILE ROBOTS
Maria Isabel Ribeiro
Pedro Lima
mir@isr.ist.utl.ptpal@isr.ist.utl.pt
Instituto Superior Técnico (IST)
Instituto de Sistemas e Robótica (ISR)
Av.Rovisco Pais, 1
1049-001 Lisboa
PORTUGAL
April.2002
All the rights reserved
MOBILE ROBOTICS course
2002 - © Pedro Lima, M. Isabel RibeiroRobótica MóvelKinematics Models
References
Gregory Dudek, Michael Jenkin, “Computational Principles of
Mobile Robotics”, Cambridge University Press, 2000 (Chapter 1).
Carlos Canudas de Wit, Bruno Siciliano, Georges Bastin (eds),
Theory of Robot Control”, Springer 1996.
2002 - © Pedro Lima, M. Isabel RibeiroRobótica MóvelKinematics Models
Kinematics for Mobile Robots
What is akinematickinematicmodel ?
What is adynamicdynamicmodel ?
Which is the difference between kinematics and
dynamics?
Locomotionis the process of causing an autonomous
robot to move.
In order to produce motion, forces must be applied to the
vehicle
Dynamicsthe study of motion in which these forces are
modeled
Includes the energies and speeds associated with these
motions
Kinematicsstudy of the mathematics of motion withouth
considering the forces that affect the motion.
Deals with the geometric relationships that govern the system
Deals with the relationship between control parameters and
the beahvior of a system in state space.
2002 - © Pedro Lima, M. Isabel RibeiroRobótica MóvelKinematics Models
Notation
{Xm,Ym} – moving frame
{Xb, Yb} – base frame
XmYm
P
Xb
Yb
x
y
θ






θ
=y
x
qrobot posture in base frame






θθ
θθ
=θ
100
0cossin
0sincos
)(RRotation matrix expressing
the orientation of the base
frame with respect to the
moving frame
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