Chapter 8 : Driving Robots

1
Chapter 8 : Driving Robots
8.2 Differential drive
The differential drive design has two motors mounted in fixed positions on the left and
right side of the robot, independently driving one wheel each.
Since three ground-contact points are necessary, this design requires one or two
additional passive caster wheels or sliders, depending on the location of the driven
wheels.
The following figure demonstrates the driving actions of a differential drive robot.


If both motors run at the same speed, the robot drives
straight forward or backward
If one motor is running faster than the other, the robot drives
in a curve (arc of a circle)
If both motors are run at the same speed in opposite
directions, the robot turns on the spot.

Driving straight forward :
L
= :
R
:
L
> u
Driving backward :
L
= :
R
:
L
< u
Driving in a right curve :
L
> :
R

Driving in a left curve :
L
< :
R

Turning on the spot , clockwise :
L
= :
R
:
L
> u
Turning on the spot , counter clockwise :
L
= :
R
:
L
< u



Chapter 8 : Driving Robots
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8.6 Drive Kinematics
Forward Kinematics (Analysis)
Given the speed of the wheels, describe the robot motion
i.e. given V
L
and V
R
, find V and

Inverse Kinematics (Design)
Given a required values of a certain motion , find suitable values for the speed of wheels
to achieve that motion
i.e. given V and , find V
L
and V
R



d : distance between drive wheels

V
L
, V
R
: Liner velocities of the Left and
Right wheels respectively

V : the robot linear speed

: the robot rotational speed

R : is the distance between (the center
point between the wheels) and (the
instantaneous center of motion)






Chapter 8 : Driving Robots
3
=
I
L
R
J
2
=
I
R
=
I
R
R +
J
2

I
R
= _R +
J
2
]

-- I
I
L
= _R
J
2
]

-- II
Auuing I anu II
I
R
+I
L
= 2 R
I =
I
R
+I
L
2

Subtiacting II fiom I
I
R
I
L
= J
=
I
R
I
L
J

Summary

Forward kinematics

Reverse kinematics
I =
I
R
+I
L
2

=
I
R
I
L
J

I
R
= I +
J
2

I
L
= I
J
2



Remember that
I = r
I : Linear speed of the wheel (m/s)
: Angular speed of the wheel (radian per second)
r : Radius of the wheel (m)


Chapter 8 : Driving Robots
4
Final 2008 + Final 2009
A differential drive robot has a distance between the left and the right wheels equal to 30
cm . Each wheel is driven with a separate motor and has a diameter of 10 cm. The speed of
each motor is reduced by a gear train of 40:1 ratio. If the right and left motor speeds are
3600 rpm and 1200 rpm respectively , find the time needed for the robot to complete a
circle
Givens
d = 30 cm
gear ratio = 40 : 1
Left Right
Wheel diameter = 10 cm Wheel diameter = 10 cm

moto
= 1200 rpm
moto
= 3600 rpm

Find
V and
Answer

Left wheel Right wheel
Wheel diameter = 10 cm
r
L
= 5 cm
Wheel diameter = 10 cm
r
R
= 5 cm

moto
= 1200 rpm

whccI
=

moto
geai iatio
=
12uu
4u
= Su rpm

whccI
= Su x
2a

= n iaus
I =
whccI
r
I
L
= n x S = S n cm s

moto
= 3600 rpm

whccI
=

moto
geai iatio
=
S6uu
4u
= 9u rpm

whccI
= 9u x
2a

= S n iaus
I =
whccI
r
I
R
= S n x S = 1S n cm s

Chapter 8 : Driving Robots
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I =
I
R
+I
L
2
=
1S n +S n
2
= 1u n cms
=
I
R
I
L
J
=
1S n S n
Su
=
n
S
iaus
=
n
S
x

2a
= 1 rpm
Time needed for the robot to complete circle
1u revoluons 1 minute

1 revoluon t


t =
1 1
1u
= u.1 minute

t = u.1 6u = 6 seconds