Reverse kinematic model It is now relatively easy to use this model to calculate the wheel velocities for a required global velocity: [+] 0 |= R(0)₁ ¿₁=R(0)-1 0 Υφι 142 Υφι r42 only solve 21 21 21 21 For a differential drive robot with: 0 = r = 1 l = 1 and wheel angular velocities of: ¢₁ = 4 42=2 what is the robot's global velocity? Exercise For a differential drive robot with: 0 = 90° r = 2 what wheel angular velocities are required to give a global velocity of: Vx = 0, V₁ = 3 ė = 1 Reverse kinematic model It is now relatively easy to use this model to calculate the wheel velocities for a required global velocity: [+] 0 |= R(0)₁ ¿₁=R(0)-1 0 Υφι 142 Υφι r42 only solve 21 21 21 21 For a differential drive robot with: 0 = r = 1 l = 1 and wheel angular velocities of: ¢₁ = 4 42=2 what is the robot's global velocity? Exercise For a differential drive robot with: 0 = 90° r = 2 what wheel angular velocities are required to give a global velocity of: Vx = 0, V₁ = 3 ė = 1

Reverse kinematic model It is now relatively easy to use this model to calculate the wheel velocities for a required global velocity: [+] 0 |= R(0)₁ ¿₁=R(0)-1 0 Υφι 142 Υφι r42 only solve 21 21 21 21 For a differential drive robot with: 0 = r = 1 l = 1 and wheel angular velocities of: ¢₁ = 4 42=2 what is the robot's global velocity? Exercise For a differential drive robot with: 0 = 90° r = 2 what wheel angular velocities are required to give a global velocity of: Vx = 0, V₁ = 3 ė = 1 Reverse kinematic model It is now relatively easy to use this model to calculate the wheel velocities for a required global velocity: [+] 0 |= R(0)₁ ¿₁=R(0)-1 0 Υφι 142 Υφι r42 only solve 21 21 21 21 For a differential drive robot with: 0 = r = 1 l = 1 and wheel angular velocities of: ¢₁ = 4 42=2 what is the robot's global velocity? Exercise For a differential drive robot with: 0 = 90° r = 2 what wheel angular velocities are required to give a global velocity of: Vx = 0, V₁ = 3 ė = 1

Power System Analysis and Design (MindTap Course List)

6th Edition

ISBN:9781305632134

Author:J. Duncan Glover, Thomas Overbye, Mulukutla S. Sarma

Publisher:J. Duncan Glover, Thomas Overbye, Mulukutla S. Sarma

Chapter6: Power Flows

Section: Chapter Questions

Problem 6.47P

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