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- Title
Desarrollo del modelo cinemático de un RMR a partir de las ecuaciones odométricas.
- Authors
Tello-Cristiany, J. A.; Silva-Ortigoza, R.; Marciano-Melchor, M.
- Abstract
The aim of this work is to obtain the kinematic model of a differential drive WMR considering the geometric disposition of their wheels; this is known as the odometric calculus. These equations will give us the position and orientation of the WMR from the lineal displacement of the wheels. It is shown that we can obtain the same kinematic model using these odometric equations as when using dynamics systems modeling of Euler-Lagrange [1].
- Subjects
DYNAMICS; KINEMATICS; LAGRANGE equations; DIFFERENTIABLE dynamical systems; GEOMETRY
- Publication
Latin-American Journal of Physics Education, 2011, Vol 5, Issue 1, p305
- ISSN
1870-9095
- Publication type
Article