ED 5315: Field and Service Robotics

Assignment 2:
Date of submission: 12th September 2016
Answer the following questions:
1.

Consider a differential drive robot with the left wheel diameter of 3 cm with a speed of 5
rpm and right wheel diameter 5 cm with a speed of 3 rpm. Assume the distance between
the wheels as L=10cm and initial orientation of mobile frame with respect to global/fixed
frame as 60o. Compute the robots instantaneous velocity in the global frame.

2.

Consider a synchro drive robot as shown in figure below. Using the wheel constraint
relationships, derive the forward kinematic model for this configuration. Assume distance
from the center of the robot to each wheel as l.

3.

Determine the degree of mobility, steerability, and maneuverability for the following
mobile robots.
b) Seekur robot
a)

Standard wheel
Powered standard wheel
d) Bicycle with fixed steering

(4 wheel steering and

4 wheel drive)

c) Segway robot