[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://mrroboto.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_4631.pdf
>
> It presents a "Bicycle Model" for calculating various values related to
the
> steering of a twoaxle 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
> >
> >
> >
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>
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