Subject:
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Re: Navigation using landmarks (Was: Re: lasers and RCX)
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Newsgroups:
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lugnet.robotics
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Date:
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Tue, 9 Jul 2002 10:08:09 GMT
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Original-From:
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Steve Baker <sjbaker1@airmail.NOMORESPAMnet>
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Reply-To:
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sjbaker1@airmail./Spamless/net
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Viewed:
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556 times
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Mike Payson wrote:
> Just use the bottom half of the mouse, trimmed as much as possible, as a
> skid plate. It will need to be mounted to allow vertical movement, but
> it should work alright. This wouldn't solve the spin issue, but the
> clearance shouldn't be a problem. A nice side benefit is that this
> simplifies construction since you don't need to worry about mounting the
> optics, etc..
Yes - I was thinking of some kind of spring-loaded arm pressing the mouse's
underside against the ground.
> At 02:31 PM 6/30/02 -0400, Rob Limbaugh wrote:
>
> > I'm certain that the optics need to be insanely close to the surface they
> > are monitoring, causing a clearance problem.
> >
> > If such a device was hacked, would placing it in the center of a
> > synchro or
> > Killough platform prove useless in a spin?
For a Killough platform, you have a fundamental problem. That type of
drive has three degrees of freedom (well - it *ought* to have only two -
but it won't in practice). Since the mouse camera delivers only two
(translational) degrees of freedom, it fundamentally can't measure all
three axes (X-direction motion, Y-direction motion and rotation).
So, you need TWO mouse-cams - one on each side of the platform. That should
allow you to measure translation in any direction - and by comparing the
outputs of two cameras, you can deduce the rotation.
----------------------------- Steve Baker -------------------------------
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Message has 1 Reply:
 | | Re: Navigation using landmarks (Was: Re: lasers and RCX)
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| I see all this nice stuff about trimming mouse bottoms and mounting the device off of the central steering axis and stuff to try and catch rotation, but I haven't spotted the posting about how people are actually getting the x and y values from the (...) (22 years ago, 9-Jul-02, to lugnet.robotics)
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Message is in Reply To:
| | Re: Navigation using landmarks (Was: Re: lasers and RCX)
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| Just use the bottom half of the mouse, trimmed as much as possible, as a skid plate. It will need to be mounted to allow vertical movement, but it should work alright. This wouldn't solve the spin issue, but the clearance shouldn't be a problem. A (...) (22 years ago, 1-Jul-02, to lugnet.robotics)
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