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robots:armadillo:calibration:welcome [2012/10/10 15:40] karina [UMB-mark test] |
robots:armadillo:calibration:welcome [2012/10/24 11:37] karina [UMB-mark test] |
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===== Odometri constants ===== | ===== Odometri constants ===== | ||
- | It is aasumed | + | It is assumed |
+ | cl = 0.00348377 | ||
+ | cr = 0.003193242 | ||
+ | w = 1.68336 | ||
+ | {{: | ||
+ | {{: | ||
+ | ===== UMB-mark test ===== | ||
- | FIXME - Insert the calculated values | + | {{: |
- | cl=0.00312 | + | Measurement and Correction of Systematic, Odometry Errors in Mobile Robots. {{:robots:armadillo:calibration:paper58.pdf|Download Paper 58}} (803 KB)\\ |
- | cr=0.00312 | + | Correction of Systematic Odometry Errors in Mobile Robots. {{:robots:armadillo: |
- | w =1.31 | + | Where am I? Sensors and Methods for |
- | + | Mobile Robot Positioning. | |
- | ==== UMB-mark test ==== | + | |
- | + | ||
- | < | + | |
- | TITLE: Document the result | + | |
- | PRIORITY: High | + | |
- | ESTIMATE: 5 h | + | |
- | PROGRESS: 0% | + | |
- | ASSIGNED: Karina | + | |
- | DESCRIPTION:See taskfreak | + | |
- | </ | + | |
- | + | ||
- | {{: | + | |
=== BEFORE CALIBRATION === | === BEFORE CALIBRATION === | ||
- | {{: | + | $r_{c.g., |
- | r c.g.cw(cm) = 83,43 \\ | ||
- | r c.g.ccw(cm) = 128,6701986 \\ | ||
- | L=2m \\ | ||
+ | $r_{c.g.cw} = 83.43 cm $\\ | ||
+ | $r_{c.g.ccw} = 128.67 cm$ \\ | ||
+ | $L = 2 m $\\ | ||
- | ^CLOCKWISE^^^^ | + | {{: |
+ | |||
+ | ^CLOCKWISE, cw^^^^ | ||
^ ^ϵx [cm]^ ^ϵy [cm]^ | ^ ^ϵx [cm]^ ^ϵy [cm]^ | ||
- | |1 |-63 | |-63,5| | + | |1 |-63 | |-63.5| |
- | |2 |-50,5 | |-59| | + | |2 |-50.5 | |-59| |
|3 |-34 | |-65| | |3 |-34 | |-65| | ||
- | |4 |-26,5 | |-78,5| | + | |4 |-26.5 | |-78.5| |
- | |5 |-41 | |-91,5| | + | |5 |-41 | |-91.5| |
- | |Xc.g.= |-43 |Yc.g.= |-71,5| | + | |X< |
{{: | {{: | ||
- | {{: | + | {{: |
- | ^COUNTERCLOCKWISE^^^^ | + | ^COUNTERCLOCKWISE, ccw^^^^ |
^ ^ϵx [cm]^ ^ϵy [cm]^ | ^ ^ϵx [cm]^ ^ϵy [cm]^ | ||
|1 |-71 | |97| | |1 |-71 | |97| | ||
Line 52: | Line 48: | ||
|3 |-74 | |87| | |3 |-74 | |87| | ||
|4 |-69 | |123| | |4 |-69 | |123| | ||
- | |5 |-65,5 | |100,5| | + | |5 |-65.5 | |100.5| |
- | |Xc.g.=|-75,9 |Yc.g.= |103,9| | + | |X< |
{{: | {{: | ||
- | {{: | + | {{: |
- | === AFTER CALCULATION | + | === Calculations |
- | {{:robots:armadillo: | + | $$\alpha = \frac{x_{c.g., |
+ | |α = |851.99 cm| | ||
+ | | |8.5199 m | | ||
+ | |||
+ | $$ \beta = \frac{x_{c.g., | ||
+ | |β = |-235.7484 cm| | ||
+ | | |-2.357 m | | ||
+ | |||
+ | |||
+ | $$R = \frac{L/ | ||
+ | |R = |-48.7 m| | ||
+ | |||
+ | $$E_d = \frac{D_R}{D_L} = \frac{R+b/ | ||
+ | |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 | ||
+ | |||
+ | $$c_l = \frac{2}{E_d+1} $$ | ||
+ | |||
+ | $$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| | ||
+ | |||
+ | |||
+ | === AFTER CALCULATION === | ||
+ | $r_{c.g., | ||
- | r c.g.cw(cm) = 4,12 \\ | + | $r_{c.g.cw} = 4.12 cm$ \\ |
- | r c.g.ccw(cm) = 29,35 \\ | + | $r_{c.g.ccw} = 29.35 cm$ \\ |
- | ^CLOCKWISE^^^^ | + | ^CLOCKWISE, cw^^^^ |
^ ^ϵx [cm]^ ^ϵy [cm]^ | ^ ^ϵx [cm]^ ^ϵy [cm]^ | ||
- | |1 |-6 | |-14,5| | + | |1 |-6 | |-14.5| |
- | |2 |-12,5 | |-10| | + | |2 |-12.5 | |-10| |
- | |3 |5,5 | |8| | + | |3 |5.5 | |8| |
- | |4 |-5,5 | |-7| | + | |4 |-5.5 | |-7| |
- | |5 |2,5 | |10,5| | + | |5 |2.5 | |10.5| |
- | |Xc.g.= |-3,2 |Yc.g.= |-2,6| | + | |X< |
{{: | {{: | ||
- | ^COUNTERCLOCKWISE^^^^ | + | ^COUNTERCLOCKWISE, ccw^^^^ |
^ ^ϵx [cm]^ ^ϵy [cm]^ | ^ ^ϵx [cm]^ ^ϵy [cm]^ | ||
- | |1 |-38,5 | |24| | + | |1 |-38.5 | |24| |
|2 |-27 | |10| | |2 |-27 | |10| | ||
- | |3 |-19,5 | |11| | + | |3 |-19.5 | |11| |
- | |4 |-22,5 | |20| | + | |4 |-22.5 | |20| |
|5 |-22 | |4 | | |5 |-22 | |4 | | ||
- | |Xc.g.= |-25,9 |Yc.g.= |13,8| | + | |X< |
{{: | {{: |