CMPUT 412 Motion Control – Wheeled robots. Csaba Szepesv ári University of Alberta. TexPoint fonts used in EMF. Read the TexPoint manual before you delete this box.: A A A A A A A A. Motion Control (wheeled robots). Requirements Kinematic/dynamic model of the robot
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University of Alberta
TexPoint fonts used in EMF.
Read the TexPoint manual before you delete this box.: AAAAAAAA
s1=s2 ; s1R=s2R ; s1L=s2L
but: x1 = x2 ; y1 = y2
a: angle between the xR axis of the robots reference frame and the vector connecting the center of the axle of the wheels with the final position
DyKinematic Position Control: Differential Drive Robot