DPRG
DPRG List  



[DPRG] Robot math problem

Subject: [DPRG] Robot math problem
From: Dennis Draheim dennis.draheim at attbi.com
Date: Tue Jun 25 08:16:02 CDT 2002

Clay, here's another one with even more detail:

http://mr-roboto.me.uiuc.edu/IRS/VehicleSystemID/BicycleModelDerivation/deri
vation.html

I found these by doing a Google search on "bicycle steering radius
equation".

Have fun,
Dennis

----- Original Message -----
>From: "Dennis Draheim" <dennis.draheim at attbi.com>
To: "Clay Timmons" <ctimmons at cadence.com>; <dprglist at dprg.org>
Sent: Tuesday, June 25, 2002 8:12 AM
Subject: Re: [DPRG] Robot math problem


> Clay, check out:
>
> http://venus.uwindsor.ca/courses/mechanical/minaker/notes_463-1.pdf
>
> It presents a "Bicycle Model" for calculating various values related to
the
> steering of a two-axle vehicle.  Note that a lot depends on the
coefficient
> of friction between the tires and the surface you're driving on...
>
> Dennis
>
> ----- Original Message -----
> From: "Clay Timmons" <ctimmons at cadence.com>
> To: <dprglist at dprg.org>
> Sent: Monday, June 24, 2002 3:10 PM
> Subject: [DPRG] Robot math problem
>
>
> >
> >
> > Just a simple math question here.
> > Suppose you have a bicycle with
> > two wheels seperated by a distance d.
> >
> > What is the equation for the radius of
> > the circle the bicycle will track if
> > the front wheel is at and angle theta
> > where, 0 degrees is straight ahead.
> >
> > Obviously the radius is infinity with
> > theta = 0.  With theta = 90 degrees the
> > radius is d.
> >
> >
> > Actually the robot is a tricycle configuration
> > but I've simplified the analysis to a bicycle.
> >
> >
> > Regards,
> >
> > -Clay Timmons-
> >
> >
> >
> > _______________________________________________
> > DPRGlist mailing list
> > DPRGlist at dprg.org
> > http://nimon.ncc.com/mailman/listinfo/dprglist
>
> _______________________________________________
> DPRGlist mailing list
> DPRGlist at dprg.org
> http://nimon.ncc.com/mailman/listinfo/dprglist


More information about the DPRG mailing list