This shows you the differences between two versions of the page.
robots:armadillo:calibration:welcome [2012/10/10 18:12] karina [Odometri constants] |
robots:armadillo:calibration:welcome [2021/08/14 04:21] |
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- | ====== Armadillo Calibration ====== | ||
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- | ===== Odometri constants ===== | ||
- | It is asumed that the tuningpoint for the belts is the center of the belts. | ||
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- | cl=0.00348377 | ||
- | cr=0.003193242 | ||
- | w =1.68336 | ||
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- | ==== UMB-mark test ==== | ||
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- | {{: | ||
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- | === BEFORE CALIBRATION === | ||
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- | {{: | ||
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- | r c.g.cw(cm) = 83,43 \\ | ||
- | r c.g.ccw(cm) = 128,6701986 \\ | ||
- | L=2m \\ | ||
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- | {{: | ||
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- | ^CLOCKWISE^^^^ | ||
- | ^ ^ϵx [cm]^ ^ϵy [cm]^ | ||
- | |1 |-63 | |-63, | ||
- | |2 |-50, | ||
- | |3 |-34 | |-65| | ||
- | |4 |-26, | ||
- | |5 |-41 | |-91, | ||
- | |Xc.g.= |-43 |Yc.g.= |-71, | ||
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- | {{: | ||
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- | {{: | ||
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- | ^COUNTERCLOCKWISE^^^^ | ||
- | ^ ^ϵx [cm]^ ^ϵy [cm]^ | ||
- | |1 |-71 | |97| | ||
- | |2 |-100 | |112| | ||
- | |3 |-74 | |87| | ||
- | |4 |-69 | |123| | ||
- | |5 |-65, | ||
- | |Xc.g.=|-75, | ||
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- | {{: | ||
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- | {{: | ||
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- | == Calculations == | ||
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- | {{: | ||
- | |α = |851,99 cm| | ||
- | | |8,5199 m | | ||
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- | {{: | ||
- | |β = |-235, | ||
- | | |-2,357 m | | ||
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- | {{: | ||
- | |R(m)= |-48,7| | ||
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- | {{: | ||
- | |b = |1.524 m| | ||
- | |Ed =|0,9692 | | ||
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- | {{: | ||
- | |b -actual =| 1, | ||
- | | ::: |1.524|before calibration| | ||
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- | {{: | ||
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- | {{: | ||
- | ^ ^Correction factor ^Before Calibration^After Calibration^ | ||
- | |cl =|1,0156 |0, | ||
- | |cr =|0,9844 |0,003244 |0, | ||
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- | === AFTER CALCULATION === | ||
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- | {{: | ||
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- | r c.g.cw(cm) = 4,12 \\ | ||
- | r c.g.ccw(cm) = 29,35 \\ | ||
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- | ^CLOCKWISE^^^^ | ||
- | ^ ^ϵx [cm]^ ^ϵy [cm]^ | ||
- | |1 |-6 | |-14, | ||
- | |2 |-12, | ||
- | |3 |5, | ||
- | |4 |-5, | ||
- | |5 |2, | ||
- | |Xc.g.= |-3, | ||
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- | {{: | ||
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- | ^COUNTERCLOCKWISE^^^^ | ||
- | ^ ^ϵx [cm]^ ^ϵy [cm]^ | ||
- | |1 |-38, | ||
- | |2 |-27 | |10| | ||
- | |3 |-19, | ||
- | |4 |-22, | ||
- | |5 |-22 | |4 | | ||
- | |Xc.g.= |-25, | ||
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- | {{: | ||
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