Differences

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

--- robots:armadillo:calibration:welcome [2012/10/24 11:37]
karina [UMB-mark test]
+++ robots:armadillo:calibration:welcome [2021/08/14 04:21]
@@ Line 1: / Line 1: @@
-====== Armadillo Calibration ======
-===== Odometri constants =====
-It is assumed that the turningpoint 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)\\
-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 ===
-$r_{c.g.,cw}=\sqrt{(X_{c.g.,cw})^2+(Y_{c.g.,cw})^2}$
-$r_{c.g.cw} = 83.43 cm $\\
-$r_{c.g.ccw} = 128.67 cm$ \\
-$L = 2 m $\\
-{{:robots:armadillo:calibration:beforecalibration_graph.png?370|}}
-^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<sub>c.g.</sub>=|-43|Y<sub>c.g.</sub>=|-71.5|
-{{:robots:armadillo:calibration:beforecalibration_clockwise.png?350|}}
-{{:robots:armadillo:calibration:beforecalibration_clockwise_route.png?370|}}
-^COUNTERCLOCKWISE, ccw^^^^
-^	^ϵx [cm]^	^ϵy [cm]^
-|1	|-71	|	|97|
-|2	|-100	|	|112|
-|3	|-74	|	|87|
-|4	|-69	|	|123|
-|5	|-65.5	|	|100.5|
-|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_route.png?370|}}
-=== Calculations ===
-$$\alpha = \frac{x_{c.g.,cw}+x_{c.g.,ccw}}{-4L}\cdot \frac{(180^{\circ})}{\pi}$$
-|α = |851.99 cm|
-|    |8.5199 m |
-$$ \beta = \frac{x_{c.g.,cw}-x_{c.g.,ccw}}{-4L}\cdot \frac{(180^{\circ})}{\pi} $$
-|β = |-235.7484 cm|
-|    |-2.357 m |
-$$R = \frac{L/2}{sin(\beta /2)} $$
-|R = |-48.7 m|
-$$E_d = \frac{D_R}{D_L} = \frac{R+b/2}{R-b/2} $$
-|b = |1.524 m|
-|$E_d$ =|0.969 |
-$$b_{actual} = \frac{90^{\circ}}{90^{\circ}-\alpha}\cdot b_{nominal} $$
-|$b_{actual}$ =|1.6834|calibrated value of wheelbase|
-| ::: |1.524|before calibration|
-$$c_l = \frac{2}{E_d+1} $$
-$$c_r = \frac{2}{(1/E_d)+1} $$
-^ ^Correction factor ^Before Calibration^After Calibration^
-|$c_l$ =|1.0156 |0.00343|0.003484 |
-|$c_r$ =|0.9844 |0.00324 |0.003193|
-=== AFTER CALCULATION ===
-$r_{c.g.,cw}=\sqrt{(X_{c.g.,cw})^2+(Y_{c.g.,cw})^2}$
-$r_{c.g.cw} = 4.12 cm$ \\
-$r_{c.g.ccw} = 29.35 cm$ \\
-^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<sub>c.g.</sub>=	|-3.2	|Y<sub>c.g.</sub>=	|-2.6|
-{{:robots:armadillo:calibration:aftercalibration_clockwise.png?350|}}
-^COUNTERCLOCKWISE, ccw^^^^
-^	^ϵx [cm]^	^ϵy [cm]^
-|1	|-38.5	|	|24|
-|2	|-27	|	|10|
-|3	|-19.5	|	|11|
-|4	|-22.5	|	|20|
-|5	|-22	|	|4 |
-|X<sub>c.g.</sub>=|-25.9|Y<sub>c.g.</sub>=|13.8|
-{{:robots:armadillo:calibration:aftercalibration_counterclockwise.png?350|}}

Technology in Crop Production

User Tools

Site Tools

Differences

Page Tools