Professional Documents
Culture Documents
CHAPTER 1
REVIEW
MOBILE ROBOT KINEMATICS
& LOCOMOTION
Dr. Vo Tuong Quan
HCMUT - 2011
Class Rules
1. Class attendance: 10% (if a student absent more than 2
time, the attendance score is zero).
2. Homeworks & Class exercises report: 30% (students will
submit the homework via ELearning system).
3. Teamwork project : 20%
Each team includes 3-4 students, each team will present
their research topic at the 3 final weeks of the semester.
English power point and english presentation in class are
encouraged.
4. Final exam: 40% (Students will allow to use their documents
while doing the exam. Time for final exam: 90 minutes
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YR
XR
XI
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YR
XR
XI
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YR
XR
XI
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The
orthogonal
matrix:
YR
XR
cos
R sin
0
sin
cos
0
rotation
0
0
1
XI
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sin
cos
0
0
0
1
0 1 0
R 1 0 0
2
0 0 1
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R R I 1 0 0 y x
2
0 0 1
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YI
YR
XR
x
R R I R y
XI
cos
R sin
0
sin
cos
0
0
0
1
10
x
y f ( 1 , n , 1 , m , 1 , m )
Inverse kinematics
1 m
xI
f ( x, y ,)
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x
I y f l , r , , 1 , 2
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r1
x r1
2
r 2
xr 2
2
x R x r1 x r 2
2l
2l
R 1 2
r1 r 2
2 2
cos sin 0
1
1
I R
0
R sin cos 0
r r
2
0
0
1
1
2l
2l
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x 0 1 0 3 0
I y 1 0 0 0 3
0 0 1 1 1
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a)
b)
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c)
d)
swedish 90
s wedis h 45
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Steered
standard
wheel
Connected
wheels
Motorised
Swedish
wheel
Motorised
standard
wheel
Un-powered
standard
wheel
Un-powered
omnidirectional
wheel
Two wheels
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