Quote:
Originally Posted by Oblarg
Find a surface on which you know the CoF of the wheels to reasonable accuracy, get a high-speed camera (or accelerometer), and measure the acceleration/current draw of the robot running at full power pushing various objects whose dynamic friction on that surface has been measured?
Not perfect, obviously, and rather time-consuming, but it should give you something to compare against theory.
|
Here's
the theory to compare it to.
Adjust Kro, Krv, and Kf until the model matches the test data.