Need help i’m working on a turtelbot project
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
Can be more specific as to why you need torque and velocity relation?
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]'