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robots:armadillo:calibration:welcome [2012/10/11 12:50] karina |
robots:armadillo:calibration:welcome [2021/08/14 04:21] (current) |
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It is assumed that the turningpoint for the belts is the center of the belts. | It is assumed that the turningpoint for the belts is the center of the belts. | ||
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w = 1.68336 | w = 1.68336 | ||
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- | ==== UMB-mark test ==== | + | ===== UMB-mark test ===== |
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+ | {{: | ||
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+ | Where am I? Sensors and Methods for Mobile Robot Positioning: | ||
+ | {{: | ||
+ | Chapter 5 is used as the base for these calculation. The two following articles describe the process in greater detail. | ||
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+ | Measurement and Correction of Systematic, Odometry Errors in Mobile Robots:\\ | ||
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+ | Correction of Systematic Odometry Errors in Mobile Robots:\\ | ||
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=== BEFORE CALIBRATION === | === BEFORE CALIBRATION === | ||
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$$ \beta = \frac{x_{c.g., | $$ \beta = \frac{x_{c.g., | ||
- | |β = |-235.7484076 | + | |β = |-235.7484 cm| |
| |-2.357 m | | | |-2.357 m | | ||
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$$E_d = \frac{D_R}{D_L} = \frac{R+b/ | $$E_d = \frac{D_R}{D_L} = \frac{R+b/ | ||
|b = |1.524 m| | |b = |1.524 m| | ||
- | |$E_d$ =|0.9692 | | + | |$E_d$ =|0.969 | |
$$b_{actual} = \frac{90^{\circ}}{90^{\circ}-\alpha}\cdot b_{nominal} $$ | $$b_{actual} = \frac{90^{\circ}}{90^{\circ}-\alpha}\cdot b_{nominal} $$ | ||
- | |$b_{actual}$ =|1.68336|calibrated value of wheelbase| | + | |$b_{actual}$ =|1.6834|calibrated value of wheelbase| |
| ::: |1.524|before calibration| | | ::: |1.524|before calibration| | ||