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robots:armadillo:calibration:welcome [2012/10/10 19:16]
karina [UMB-mark test] 		robots:armadillo:calibration:welcome [2012/10/26 11:44]
claes
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 ===== Odometri constants ===== ===== Odometri constants =====
-It is asumed that the tuningpoint for the belts is the center of the belts.+It is assumed that the turningpoint for the belts is the center of the belts.
  
-  cl=0.00348377 +  cl = 0.00348377 
-  cr=0.003193242 +  cr = 0.003193242 
-  w =1.68336+  w = 1.68336
 {{:robots:armadillo:calibration:clockwise_graph.png?350|}} {{:robots:armadillo:calibration:clockwise_graph.png?350|}}
 {{:robots:armadillo:calibration:counterclockwise_graph.png?350|}} {{:robots:armadillo:calibration:counterclockwise_graph.png?350|}}
-==== UMB-mark test ====+===== UMB-mark test =====
  
-{{:robots:armadillo:calibration:calibration_umb.xlsx|UMB}} (168 KB)+{{:robots:armadillo:calibration:calibration_umb.xlsx|UMB test}} (168 KB) Data and calculation showed in this page 
 + 
 +Measurement and Correction of Systematic, Odometry Errors in Mobile Robots:\\  
 +{{:robots:armadillo:calibration:paper58.pdf|Download Paper 58}} (803 KB) 
 + 
 +Correction of Systematic Odometry Errors in Mobile Robots:\\  
 +{{:robots:armadillo:calibration:paper59.pdf|Download Paper 59}} (177 KB) 
 + 
 +Where am I? Sensors and Methods for Mobile Robot Positioning: \\ 
 +{{:robots:armadillo:calibration:pos96rep.pdf|Download book from University of Michigan}} (12.2 MB)
  
 === BEFORE CALIBRATION === === BEFORE CALIBRATION ===
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-r c.g.cw(cm) = 83,43 \\ +$r_{c.g.cw} = 83.43 cm $\\ 
-r c.g.ccw(cm) = 128,6701986 \\ +$r_{c.g.ccw} = 128.67 cm$ \\ 
-L=2m \\+$L = 2 m $\\
  
 {{:robots:armadillo:calibration:beforecalibration_graph.png?370|}} {{:robots:armadillo:calibration:beforecalibration_graph.png?370|}}
  
-^CLOCKWISE^^^^+^CLOCKWISE, cw^^^^
 ^ ^ϵx [cm]^ ^ϵy [cm]^ ^ ^ϵx [cm]^ ^ϵy [cm]^
-|1 |-63 | |-63,5| +|1 |-63 | |-63.5| 
-|2 |-50,5 | |-59|+|2 |-50.5 | |-59|
 |3 |-34 | |-65| |3 |-34 | |-65|
-|4 |-26,5 | |-78,5| +|4 |-26.5 | |-78.5| 
-|5 |-41 | |-91,5| +|5 |-41 | |-91.5| 
-|Xc.g.= |-43 |Yc.g.= |-71,5|+|X<sub>c.g.</sub>=|-43|Y<sub>c.g.</sub>=|-71.5|
  
  
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 {{:robots:armadillo:calibration:beforecalibration_clockwise_route.png?370|}} {{:robots:armadillo:calibration:beforecalibration_clockwise_route.png?370|}}
  
-^COUNTERCLOCKWISE^^^^+^COUNTERCLOCKWISE, ccw^^^^
 ^ ^ϵx [cm]^ ^ϵy [cm]^ ^ ^ϵx [cm]^ ^ϵy [cm]^
 |1 |-71 | |97| |1 |-71 | |97|
Line 44: Line 53:
 |3 |-74 | |87| |3 |-74 | |87|
 |4 |-69 | |123| |4 |-69 | |123|
-|5 |-65,5 | |100,5| +|5 |-65.5 | |100.5| 
-|Xc.g.=|-75,9 |Yc.g.= |103,9|+|X<sub>c.g.</sub>=|-75.9|Y<sub>c.g.</sub>=|103.9|
  
 {{:robots:armadillo:calibration:beforecalibration_counterclockwise.png?350|}} {{:robots:armadillo:calibration:beforecalibration_counterclockwise.png?350|}}
Line 52: Line 61:
  
  
-== Calculations ==+=== Calculations === 
 + 
 +$$\alpha = \frac{x_{c.g.,cw}+x_{c.g.,ccw}}{-4L}\cdot \frac{(180^{\circ})}{\pi}$$ 
 +|α = |851.99 cm| 
 +|    |8.5199 m |
  
-$\alpha = \frac{x_{c.g.,cw}+x_{c.g.,ccw}}{-4L}\cdot \frac{(180)}{\pi}$ +$$ \beta = \frac{x_{c.g.,cw}-x_{c.g.,ccw}}{-4L}\cdot \frac{(180^{\circ})}{\pi} $$ 
-|α = |851,99 cm| +|β = |-235.7484 cm| 
-|    |8,5199 m |+|    |-2.357 m |
  
-{{:robots:armadillo:calibration:formula_beta.png?320|}} 
-|β = |-235,7484076 cm| 
-|    |-2,357 m | 
  
-{{:robots:armadillo:calibration:formula_r.png?170|}} +$$R = \frac{L/2}{sin(\beta /2)} $$ 
-|R(m)= |-48,7|+|R = |-48.7 m|
  
-{{:robots:armadillo:calibration:formula_ed.png?250|}}+$$E_d = \frac{D_R}{D_L} = \frac{R+b/2}{R-b/2} $$
 |b = |1.524 m| |b = |1.524 m|
-|Ed =|0,9692 |+|$E_d$ =|0.969 |
  
-{{:robots:armadillo:calibration:formula_bactual.png?280|}} +$$b_{actual} = \frac{90^{\circ}}{90^{\circ}-\alpha}\cdot b_{nominal} $$ 
-|b -actual =| 1,68336|calibrated value of wheelbase|+|$b_{actual}$ =|1.6834|calibrated value of wheelbase|
 | ::: |1.524|before calibration| | ::: |1.524|before calibration|
  
-{{:robots:armadillo:calibration:formula_cl.png?180|}}+$$c_l = \frac{2}{E_d+1} $$
  
-{{:robots:armadillo:calibration:formula_cr.png?180|}}+$$c_r = \frac{2}{(1/E_d)+1} $$
 ^ ^Correction factor ^Before Calibration^After Calibration^ ^ ^Correction factor ^Before Calibration^After Calibration^
-|cl =|1,0156 |0,0034301|0,00348377 | +|$c_l$ =|1.0156 |0.00343|0.003484 | 
-|cr =|0,9844 |0,003244 |0,003193242|+|$c_r$ =|0.9844 |0.00324 |0.003193|
  
  
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 $r_{c.g.,cw}=\sqrt{(X_{c.g.,cw})^2+(Y_{c.g.,cw})^2}$ $r_{c.g.,cw}=\sqrt{(X_{c.g.,cw})^2+(Y_{c.g.,cw})^2}$
  
-r c.g.cw(cm) = 4,12 \\ +$r_{c.g.cw} = 4.12 cm$ \\ 
-r c.g.ccw(cm) = 29,35 \\+$r_{c.g.ccw} = 29.35 cm$ \\
  
-^CLOCKWISE^^^^+^CLOCKWISE, cw^^^^
 ^ ^ϵx [cm]^ ^ϵy [cm]^ ^ ^ϵx [cm]^ ^ϵy [cm]^
-|1 |-6 | |-14,5| +|1 |-6 | |-14.5| 
-|2 |-12,5 | |-10| +|2 |-12.5 | |-10| 
-|3 |5,5 | |8| +|3 |5.5 | |8| 
-|4 |-5,5 | |-7| +|4 |-5.5 | |-7| 
-|5 |2,5 | |10,5| +|5 |2.5 | |10.5| 
-|Xc.g.= |-3,2 |Yc.g.= |-2,6|+|X<sub>c.g.</sub>= |-3.2 |Y<sub>c.g.</sub>= |-2.6|
  
 {{:robots:armadillo:calibration:aftercalibration_clockwise.png?350|}} {{:robots:armadillo:calibration:aftercalibration_clockwise.png?350|}}
  
-^COUNTERCLOCKWISE^^^^+^COUNTERCLOCKWISE, ccw^^^^
 ^ ^ϵx [cm]^ ^ϵy [cm]^ ^ ^ϵx [cm]^ ^ϵy [cm]^
-|1 |-38,5 | |24|+|1 |-38.5 | |24|
 |2 |-27 | |10| |2 |-27 | |10|
-|3 |-19,5 | |11| +|3 |-19.5 | |11| 
-|4 |-22,5 | |20|+|4 |-22.5 | |20|
 |5 |-22 | |4 | |5 |-22 | |4 |
-|Xc.g.= |-25,9 |Yc.g.= |13,8|+|X<sub>c.g.</sub>=|-25.9|Y<sub>c.g.</sub>=|13.8|
  
 {{:robots:armadillo:calibration:aftercalibration_counterclockwise.png?350|}} {{:robots:armadillo:calibration:aftercalibration_counterclockwise.png?350|}}
robots/armadillo/calibration/welcome.txt · Last modified: 2021/08/14 04:21 (external edit)

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