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 [DPRG] Robot math problems Message index sorted by: [ date ] [ thread ] [ subject ] [ author ] Previous message: [DPRG] Robot math problems Next message: [DPRG] Robot math problems Subject: [DPRG] Robot math problems From: Mike McCarty jmccarty at ssd.usa.alcatel.com Date: Wed Feb 13 14:19:18 CST 2002 On Wed, 13 Feb 2002, Chuck McManis wrote: > At 11:37 AM 2/13/02 -0800, Clay Timmons wrote: > >Just working out a few robot navigation issues > >and thought I'd share a couple math problems > >I've encountered. Have fun! Took me about > >10 minutes. > > You've got to build more tracked robots :-) This is essential knowledge for > doing inverse kinematics computations to position one's bot. > > >If a 12" wide robot with 3" diameter wheels > >has one wheel going 1/2 the speed of the other > >it will go in a circle. > > > > 1) What diameter is that circle? > > > > 2) To make the robot go in a circle with > > a 9" radius on the inside wheel > > what speed should the inside wheel > > go as a percentage of the outside wheel? > > I'm going to assume that the centerline of the two wheels are 12" apart, > since your robot is "12 inches wide" that cannot be true in practice as you > either measured from wheel edge to wheel edge in which case the center line > is 1 wheel width less than 12", or you measured the body and the wheels > were outside of that meaning they are 1 wheel width + 12" apart. > > Given that, there is no solution for #2 because the smallest radius turn > you could possibly make that is *centered on the inside wheel* is 12". > However by rotating one wheel in reverse you can translate the center of > rotation along the axle between the two wheels. I believe you do misinterpret the meaning of the second. I understood it to mean that the inside wheel travelled on a circle with radius 9 inches. This certainly has a solution. Mike -- char *p="char *p=%c%s%c;main(){printf(p,34,p,34);}";main(){printf(p,34,p,34);} This message made from 100% recycled bits. I can explain it for you, but I can't understand it for you. I don't speak for Alcatel <- They make me say that. Previous message: [DPRG] Robot math problems Next message: [DPRG] Robot math problems Message index sorted by: [ date ] [ thread ] [ subject ] [ author ] More information about the DPRG mailing list