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Need help i’m working on a turtelbot project

asked 2016-12-28 19:04:59 -0500 gravatar image

Hello, first of all excuse my bad english, i don't if i'm in the good section or no. I'm working on a turtlebot 2 project. my subject is to make a PID controller of the robot to control each wheel i started with a trajectory pathing where i estimate the error after that, i managed to find the expression of the velocity ( angular and linear ) from the errors now i am modeling the dynamical of the robot but i need a connexion between the velocities and the torque of the wheels ( left and right ) if its possible because i can't find other way to model it i'm working with simulink to do my project and after i will implant it directlly in the turtlebot 2 and also if anyone of you had ever worked with a similar project i'll be greatful if he share his knowledge with me Thank you

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Can be more specific as to why you need torque and velocity relation?

kartikmadhira1 gravatar image kartikmadhira1  ( 2016-12-29 00:43:24 -0500 )edit

i need the torques for the dynamical model of the robot in the out of the PID controller i have [v w]' the velocities. so i need some relation to deduce torques expressions and then in my dynamical model outputs i'll get [ x y theta]' gravatar image  ( 2016-12-29 08:12:27 -0500 )edit

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answered 2016-12-29 13:23:25 -0500

ahendrix gravatar image

updated 2016-12-29 13:23:41 -0500

I don't think anyone has a dynamics model of the turtlebot 2; most projects use simple PID controllers and tune them experimentally until they provide decent results.

If you really need the system model, I suggest you gather the data and model the system yourself. In my experience, the two hardest parts of designing a good controller are capturing the system model, and doing the mathematics to verify the controller.

As an aside, I haven't heard of many people building controllers that control the torque or PWM applied to the turtlebot wheels (most people send velocities and use the built-in controller). You may want to make sure that you can actually send the control signal that you think you can send before you put a bunch of effort into building a controller that outupts torque values.

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Asked: 2016-12-28 19:04:59 -0500

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Last updated: Dec 29 '16