Subject:
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Re: Measuring robot turn angle
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Newsgroups:
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lugnet.robotics.rcx.legos
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Date:
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Thu, 10 Jan 2002 04:35:46 GMT
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Viewed:
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4284 times
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In lugnet.robotics.rcx.legos, Robert Templeton writes:
> The drive system in my robot is an adder-subtractor (see
> http://carol.wins.uva.nl/~leo/lego/diff.html) which uses two differentials
> in order to get equalized forward/reverse drive while allowing turning and
> pivoting (turning in place). For navigational purposes, the robot should be
> able to turn or pivot a certain number of degrees relative to its current
> heading, maybe with the assistance of a rotation sensor. But, I am at a
> loss as how to accomplish this in a non-interfering way considering that the
> right and left wheel axles are independent of each other (the rotation
> measurement would surely need to consider the rotation of each axle to
> determine an accurate angle of rotation of the robot). Any help
> appreciated!! :)
>
> Thanks,
>
> Robert Templeton
Robert, I have been playing with this problem a bit. Another approach is to
power each tread with a separate motor, use a differential assembly to add
the shaft rotation from both sides and use a rotation sensor to 'control' to
a zero difference. Then... you will be driving a straight line. If then
you interrupt one motor for (say) 30/100 of a second you will cause the
vehicle to turn. Alternatively you could interrupt one motor until the
rotation sensor reached a certain limit, to get a more exact angle. See my
attempts at http://www3.sympatico.ca/jdkalpin and navigate to 'The LEGO Lugger'.
Jerry
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Message is in Reply To:
 | | Measuring robot turn angle
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| The drive system in my robot is an adder-subtractor (see (URL) which uses two differentials in order to get equalized forward/reverse drive while allowing turning and pivoting (turning in place). For navigational purposes, the robot should be able (...) (25 years ago, 9-Jan-02, to lugnet.robotics.rcx.legos)
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