Re: Localization / Odometry using omnidirectional wheels (or Killough Platform)
- From: Mike Ross <mike_l_rossREMOVE@xxxxxxxxxxxxxxxxxxx>
- Date: Thu, 19 Jan 2006 01:09:46 GMT
rmeenaks@xxxxxxx wrote:
> Hi,
>
> I want to create a robot using a killough platform and keep track of
> its position so that I will travel a certain point and return back to
> its home. Is there any documentation on odometry, etc using a killough
> platform or omnidirectional wheels???
>
>
> Thanks,
>
>
> Ram
>
> PS: Code will be great too!!!
Hey, I just finished building one of those! My idea was to have a platform
able to track a flashlight beam, keeping it centered in the center of a
photodetector array. I gotta tell you, the motion is not straight line and
smooth, in certain directions the small friction in the non-driven axes
throws off the trajectory. I am running on carpet, you might do better on
a smooth floor.
Anyway, if you know the direction of the commanded velocity, the individual
motor commands are all K*sin(some combination of command vector angle and
fixed motor axis angle). I also have C code written for an AVR processor,
which uses 3 PWM signals for positive commanding, and 3 more for negative
commanding.
The sensitivity of the motion to the commands means you will probably have
to run your motors with closed loop feedback. I used home-made encoders.
I tried open loop, but each motor has different friction characteristics.
Anyway, email me and I will dump more on you than you probably want.
--
Mike Ross
The instructions said use Win98 or better, so I used Linux.
.
- References:
- Prev by Date: Localization / Odometry using omnidirectional wheels (or Killough Platform)
- Next by Date: Re: Proofs of Reinforcement Learning Algorithms
- Previous by thread: Localization / Odometry using omnidirectional wheels (or Killough Platform)
- Index(es):
Relevant Pages
|
