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--- robots:armadillo:calibration:welcome [2012/10/11 12:50]
karina
+++ robots:armadillo:calibration:welcome [2012/10/24 11:31]
karina
@@ Line 4: / Line 4: @@
 It is assumed that the turningpoint for the belts is the center of the belts.
-  c<sub>l</sub> = 0.00348377
+  cl = 0.00348377
-  $c_r$ = 0.003193242
+  cr = 0.003193242
   w = 1.68336
 {{:robots:armadillo:calibration:clockwise_graph.png?350|}}
 {{:robots:armadillo:calibration:counterclockwise_graph.png?350|}}
-==== UMB-mark test ====
+===== UMB-mark test =====
-{{:robots:armadillo:calibration:calibration_umb.xlsx|UMB}} (168 KB)
+{{:robots:armadillo:calibration:calibration_umb.xlsx|UMB}} (168 KB)\\
+{{:robots:armadillo:calibration:paper58.pdf|Paper 58}} (803 KB)\\
+{{:robots:armadillo:calibration:paper59.pdf|Paper 59}} (177 KB)\\
+{{:robots:armadillo:calibration:pos96rep.pdf|pos96rep}} (12.2 MB)
 === BEFORE CALIBRATION ===
@@ Line 59: / Line 62: @@
 $$ \beta = \frac{x_{c.g.,cw}-x_{c.g.,ccw}}{-4L}\cdot \frac{(180^{\circ})}{\pi} $$
-|β = |-235.7484076 cm|
+|β = |-235.7484 cm|
 |    |-2.357 m |
@@ Line 68: / Line 71: @@
 $$E_d = \frac{D_R}{D_L} = \frac{R+b/2}{R-b/2} $$
 |b = |1.524 m|
-|$E_d$ =|0.9692 |
+|$E_d$ =|0.969 |
 $$b_{actual} = \frac{90^{\circ}}{90^{\circ}-\alpha}\cdot b_{nominal} $$
-|$b_{actual}$ =|1.68336|calibrated value of wheelbase|
+|$b_{actual}$ =|1.6834|calibrated value of wheelbase|
 | ::: |1.524|before calibration|

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