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robots:armadillo:calibration:welcome

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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

UMB-mark test

UMB (168 KB)

BEFORE CALIBRATION

r c.g.cw(cm) = 83,43
r c.g.ccw(cm) = 128,6701986
L=2m

R_{c.g}=\frac{1}{13}

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

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

Calculations

α = 851,99 cm
8,5199 m

β = -235,7484076 cm
-2,357 m

R(m)= -48,7

b = 1.524 m
Ed =0,9692

b -actual = 1,68336calibrated value of wheelbase
1.524before calibration

Correction factor Before CalibrationAfter Calibration
cl =1,0156 0,00343010,00348377
cr =0,9844 0,003244 0,003193242

AFTER CALCULATION

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

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/welcome.1349888881.txt.gz · Last modified: 2021/08/14 04:19 (external edit)