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robots:armadillo:calibration:welcome [2012/10/10 19:08] karina [UMB-mark test] |
robots:armadillo:calibration:welcome [2012/10/11 12:50] karina |
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===== Odometri constants ===== | ===== Odometri constants ===== | ||
- | It is asumed | + | It is assumed |
- | | + | |
- | | + | |
- | w =1.68336 | + | w = 1.68336 |
{{: | {{: | ||
{{: | {{: | ||
Line 15: | Line 15: | ||
=== 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}=\frac{1}{13} | + | $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< |
Line 38: | Line 38: | ||
{{: | {{: | ||
- | ^COUNTERCLOCKWISE^^^^ | + | ^COUNTERCLOCKWISE, ccw^^^^ |
^ ^ϵx [cm]^ ^ϵy [cm]^ | ^ ^ϵx [cm]^ ^ϵy [cm]^ | ||
|1 |-71 | |97| | |1 |-71 | |97| | ||
Line 44: | Line 44: | ||
|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< |
{{: | {{: | ||
Line 52: | Line 52: | ||
- | == Calculations == | + | === Calculations |
- | {{: | + | $$\alpha = \frac{x_{c.g.,cw}+x_{c.g., |
- | |α = |851,99 cm| | + | |α = |851.99 cm| |
- | | |8,5199 m | | + | | |8.5199 m | |
- | {{: | + | $$ \beta = \frac{x_{c.g.,cw}-x_{c.g., |
- | |β = |-235,7484076 cm| | + | |β = |-235.7484076 cm| |
- | | |-2,357 m | | + | | |-2.357 m | |
- | {{: | ||
- | |R(m)= |-48,7| | ||
- | {{: | + | $$R = \frac{L/2}{sin(\beta /2)} $$ |
+ | |R = |-48.7 m| | ||
+ | |||
+ | $$E_d = \frac{D_R}{D_L} = \frac{R+b/ | ||
|b = |1.524 m| | |b = |1.524 m| | ||
- | |Ed =|0,9692 | | + | |$E_d$ =|0.9692 | |
- | {{: | + | $$b_{actual} = \frac{90^{\circ}}{90^{\circ}-\alpha}\cdot b_{nominal} $$ |
- | |b -actual =| 1,68336|calibrated value of wheelbase| | + | |$b_{actual}$ =|1.68336|calibrated value of wheelbase| |
| ::: |1.524|before calibration| | | ::: |1.524|before calibration| | ||
- | {{: | + | $$c_l = \frac{2}{E_d+1} $$ |
- | {{: | + | $$c_r = \frac{2}{(1/E_d)+1} $$ |
^ ^Correction factor ^Before Calibration^After Calibration^ | ^ ^Correction factor ^Before Calibration^After Calibration^ | ||
- | |cl =|1,0156 |0,0034301|0, | + | |$c_l$ =|1.0156 |0.00343|0.003484 |
- | |cr =|0,9844 |0, | + | |$c_r$ =|0.9844 |0.00324 |
=== AFTER CALCULATION === | === AFTER CALCULATION === | ||
+ | $r_{c.g., | ||
- | {{: | + | $r_{c.g.cw} = 4.12 cm$ \\ |
- | + | $r_{c.g.ccw} = 29.35 cm$ \\ | |
- | r c.g.cw(cm) = 4,12 \\ | + | |
- | r c.g.ccw(cm) = 29,35 \\ | + | |
- | ^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< |
{{: | {{: |