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robots:armadillo:calibration:welcome [2012/10/11 12:50] karina |
robots:armadillo:calibration:welcome [2021/08/14 04:21] |
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- | ====== Armadillo Calibration ====== | ||
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- | ===== Odometri constants ===== | ||
- | It is assumed that the turningpoint for the belts is the center of the belts. | ||
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- | c< | ||
- | $c_r$ = 0.003193242 | ||
- | w = 1.68336 | ||
- | {{: | ||
- | {{: | ||
- | ==== UMB-mark test ==== | ||
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- | {{: | ||
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- | === BEFORE CALIBRATION === | ||
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- | $r_{c.g., | ||
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- | $r_{c.g.cw} = 83.43 cm $\\ | ||
- | $r_{c.g.ccw} = 128.67 cm$ \\ | ||
- | $L = 2 m $\\ | ||
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- | {{: | ||
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- | ^CLOCKWISE, cw^^^^ | ||
- | ^ ^ϵx [cm]^ ^ϵy [cm]^ | ||
- | |1 |-63 | |-63.5| | ||
- | |2 |-50.5 | |-59| | ||
- | |3 |-34 | |-65| | ||
- | |4 |-26.5 | |-78.5| | ||
- | |5 |-41 | |-91.5| | ||
- | |X< | ||
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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 |-65.5 | |100.5| | ||
- | |X< | ||
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- | {{: | ||
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- | {{: | ||
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- | === Calculations === | ||
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- | $$\alpha = \frac{x_{c.g., | ||
- | |α = |851.99 cm| | ||
- | | |8.5199 m | | ||
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- | $$ \beta = \frac{x_{c.g., | ||
- | |β = |-235.7484076 cm| | ||
- | | |-2.357 m | | ||
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- | $$R = \frac{L/ | ||
- | |R = |-48.7 m| | ||
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- | $$E_d = \frac{D_R}{D_L} = \frac{R+b/ | ||
- | |b = |1.524 m| | ||
- | |$E_d$ =|0.9692 | | ||
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- | $$b_{actual} = \frac{90^{\circ}}{90^{\circ}-\alpha}\cdot b_{nominal} $$ | ||
- | |$b_{actual}$ =|1.68336|calibrated value of wheelbase| | ||
- | | ::: |1.524|before calibration| | ||
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- | $$c_l = \frac{2}{E_d+1} $$ | ||
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- | $$c_r = \frac{2}{(1/ | ||
- | ^ ^Correction factor ^Before Calibration^After Calibration^ | ||
- | |$c_l$ =|1.0156 |0.00343|0.003484 | | ||
- | |$c_r$ =|0.9844 |0.00324 |0.003193| | ||
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- | === AFTER CALCULATION === | ||
- | $r_{c.g., | ||
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- | $r_{c.g.cw} = 4.12 cm$ \\ | ||
- | $r_{c.g.ccw} = 29.35 cm$ \\ | ||
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- | ^CLOCKWISE, cw^^^^ | ||
- | ^ ^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| | ||
- | |X< | ||
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- | {{: | ||
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- | ^COUNTERCLOCKWISE, | ||
- | ^ ^ϵx [cm]^ ^ϵy [cm]^ | ||
- | |1 |-38.5 | |24| | ||
- | |2 |-27 | |10| | ||
- | |3 |-19.5 | |11| | ||
- | |4 |-22.5 | |20| | ||
- | |5 |-22 | |4 | | ||
- | |X< | ||
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- | {{: | ||
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