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Kinematic and dynamic equations of Robot

asked 2016-09-26 09:55:22 -0500

FAIZ gravatar image

Hello Everyone, I was using innok_heros model for my learning of ROS. I wish if I could have a resource explaining the kinematic equation of the differential drive and other dynamic performance related equations for this robot or any other differential drive robot simulated using ROS.

Thank you.

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answered 2016-09-27 06:13:02 -0500

pablocesar gravatar image

updated 2016-09-27 06:33:36 -0500

Hi, just search for differential drive info.

Example: (the video is OK, but, it is kind of slow)

https://chess.eecs.berkeley.edu/eecs149/documentation/differentialDrive.pdf

https://www.youtube.com/watch?v=aE7RQNhwnPQ

http://rossum.sourceforge.net/papers/DiffSteer/DiffSteer.html

If you are done with the theory, then, look at this package and to some of the projects that are using it: http://wiki.ros.org/diff_drive_controller

There is a package that seems to be what you are asking for: http://wiki.ros.org/differential_drive

For learning the core of wheeled mobile robots I recommend you to read chapter 3 of this book: http://www.robotee.com/EBooks/Introduction_to_Autonomous_Mobile_Robots.pdf

BE AWARE: That Innok Robotics has actually two types of mobile robots (http://wiki.ros.org/Robots/Innok-Heros), one is differential (Innok Heros 223) and the other one is an over-constrained mobile robot (Innok Heros 444) that is used mostly for outdoor purposes and "behaves" like a tank in terms of its way of turning (look at: http://www-personal.umich.edu/~johannb/Papers/paper95.pdf).

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Thank you very much for the reply. Since I am new to the ROS environment, I would like to know in what files are the equations for kinetics (suppose for differential drive) are written.

FAIZ gravatar image FAIZ  ( 2016-09-27 15:33:00 -0500 )edit

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Asked: 2016-09-26 09:55:22 -0500

Seen: 1,054 times

Last updated: Sep 27 '16