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Exercise 1
Demonstrate the rolling and sliding constraints conditions for a standard xed wheel is:
= r
VY
And: VT
Y
VL Y VQ Y Then considering:
VL Y VQ Y So VY
W
VY
sin( + )
cos( + )
1.2
Sliding constraint VX
=0
VX And: VT
VL X VQ X
VL X VQ X So VX
W
V X
cos( + )
sin( + )
Excercise 2
Demostrate that for a dierential steered mobile robot if you use the rolling and sliding constraints concepts you can derive the same formula for the robot velocities projected in the world reference frame
With this conguration the constraints are: I = J2 Rolling: J1 (s )R()1 I = 0 Sliding: C1 (s )R()1 Fusing these two equations yields the following expression: J1 (s ) I = J2 R()1 C 1 ( 2 ) 0 Substituting the constraints for the dierential steered robot we get: sin(R + R ) sin( + ) L L cos(R + R ) cos(L + L ) cos(R + R ) cos(L + L ) sin(R + R ) sin(L + L ) L cos(R ) r L cos(L ) I = R()1 L sin(R ) L sin(L ) R L 0 0
1 = R() 1 0
0 0 1
S S 0
r R L 0
= R ( )
1 2 0 1 S 2
1 2
0 1 S 2
0 1 0
r R L 0