Differences

This shows you the differences between two versions of the page.

--- robots:armadillo:calibration:welcome [2012/10/10 19:13]
karina [UMB-mark test]
+++ robots:armadillo:calibration:welcome [2021/08/14 04:21]
@@ Line 1: / Line 1: @@
-====== Armadillo Calibration ======
-===== Odometri constants =====
-It is asumed that the tuningpoint for the belts is the center of the belts.
-  cl=0.00348377
-  cr=0.003193242
-  w =1.68336
-{{:robots:armadillo:calibration:clockwise_graph.png?350|}}
-{{:robots:armadillo:calibration:counterclockwise_graph.png?350|}}
-==== UMB-mark test ====
-{{:robots:armadillo:calibration:calibration_umb.xlsx|UMB}} (168 KB)
-=== BEFORE CALIBRATION ===
-$R_{c.g.,cw}=\sqrt{(X_{c.g.,cw})^2+(Y_{c.g.,cw})^2}$
-{{:robots:armadillo:calibration:aftercalibration_formula.png?300|}}
-r c.g.cw(cm) = 83,43 \\
-r c.g.ccw(cm) = 128,6701986 \\
-L=2m \\
-{{:robots:armadillo:calibration:beforecalibration_graph.png?370|}}
-^CLOCKWISE^^^^
-^	^ϵx [cm]^	^ϵy [cm]^
-|1	|-63	|	|-63,5|
-|2	|-50,5	|	|-59|
-|3	|-34	|	|-65|
-|4	|-26,5	|	|-78,5|
-|5	|-41	|	|-91,5|
-|Xc.g.=	|-43	|Yc.g.=	|-71,5|
-{{:robots:armadillo:calibration:beforecalibration_clockwise.png?350|}}
-{{:robots:armadillo:calibration:beforecalibration_clockwise_route.png?370|}}
-^COUNTERCLOCKWISE^^^^
-^	^ϵx [cm]^	^ϵy [cm]^
-|1	|-71	|	|97|
-|2	|-100	|	|112|
-|3	|-74	|	|87|
-|4	|-69	|	|123|
-|5	|-65,5	|	|100,5|
-|Xc.g.=|-75,9	|Yc.g.=	|103,9|
-{{:robots:armadillo:calibration:beforecalibration_counterclockwise.png?350|}}
-{{:robots:armadillo:calibration:beforecalibration_counterclockwise_route.png?370|}}
-== Calculations ==
-{{:robots:armadillo:calibration:formula_alpha.png?320|}}
-|α = |851,99 cm|
-|    |8,5199 m |
-{{:robots:armadillo:calibration:formula_beta.png?320|}}
-|β = |-235,7484076 cm|
-|    |-2,357 m |
-{{:robots:armadillo:calibration:formula_r.png?170|}}
-|R(m)= |-48,7|
-{{:robots:armadillo:calibration:formula_ed.png?250|}}
-|b = |1.524 m|
-|Ed =|0,9692 |
-{{:robots:armadillo:calibration:formula_bactual.png?280|}}
-|b -actual =|	1,68336|calibrated value of wheelbase|
-| ::: |1.524|before calibration|
-{{:robots:armadillo:calibration:formula_cl.png?180|}}
-{{:robots:armadillo:calibration:formula_cr.png?180|}}
-^ ^Correction factor ^Before Calibration^After Calibration^
-|cl =|1,0156 |0,0034301|0,00348377 |
-|cr =|0,9844 |0,003244 |0,003193242|
-=== AFTER CALCULATION ===
-$R_{c.g.,cw}=\sqrt{(X_{c.g.,cw})^2+(Y_{c.g.,cw})^2}$
-{{:robots:armadillo:calibration:aftercalibration_formula.png?300|}}
-r c.g.cw(cm) = 4,12 \\
-r c.g.ccw(cm) = 29,35 \\
-^CLOCKWISE^^^^
-^	^ϵx [cm]^	^ϵy [cm]^
-|1	|-6	|	|-14,5|
-|2	|-12,5	|	|-10|
-|3	|5,5	|	|8|
-|4	|-5,5	|	|-7|
-|5	|2,5	|	|10,5|
-|Xc.g.=	|-3,2	|Yc.g.=	|-2,6|
-{{:robots:armadillo:calibration:aftercalibration_clockwise.png?350|}}
-^COUNTERCLOCKWISE^^^^
-^	^ϵx [cm]^	^ϵy [cm]^
-|1	|-38,5	|	|24|
-|2	|-27	|	|10|
-|3	|-19,5	|	|11|
-|4	|-22,5	|	|20|
-|5	|-22	|	|4 |
-|Xc.g.=	|-25,9	|Yc.g.=	|13,8|
-{{:robots:armadillo:calibration:aftercalibration_counterclockwise.png?350|}}

Technology in Crop Production

User Tools

Site Tools

Differences

Page Tools