View Single Post
  #1   Spotlight this post!  
Unread 25-10-2013, 14:46
Ether's Avatar
Ether Ether is offline
systems engineer (retired)
no team
 
Join Date: Nov 2009
Rookie Year: 1969
Location: US
Posts: 8,028
Ether has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond repute
Geometry & Trig Quiz



Let XY be a standard (right-handed) Cartesian coordinate system fixed with respect to the field surface.

The center-of-geometry[1] of a 4-wheel crab-drive[2] robot is sitting at coordinates (X0,Y0) and its orientation (longitudinal axis) is "alpha" radians clockwise from the +Y axis.

All 4 wheels are turned to a steering angle "beta" radians clockwise from the longitudal axis of the robot.

The trackwidth of the robot is "W" and the wheelbase is "L".

Find the new steering angle "sigma" necessary to drive the robot in a straight line so that its center-of-geometry is located at point (X1,Y1).


Notes:

[1] "center of geometry" in this context means the center of the rectangle formed by the locations of the 4 wheels

[2] "crab drive" in this context means all 4 wheels are steered to the same angle and are driven at the same speed





Last edited by Ether : 25-10-2013 at 16:36.
Reply With Quote