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 13:16:23 GMT
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Viewed:
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1614 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!! :)
Another option would be to connect a single rotation sensor directly to the
motor that turns your robot. (you may wish to gear it down) You could not
detect the distance forward or backward (from the other motor), but you
could calculate the distance turned, because each wheel will always turn the
exact same distance. (or pretty close)
I think this method can be used with the robot you described, with very
little modification.
You'll find there are two things you may want to measure to navigate. They
would either be {forward/backward distance and turn angle} OR {Right-side
distance and Left-Side distance}
With one rotation sensor, you can only measure one of these.
Steve
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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 (...) (23 years ago, 9-Jan-02, to lugnet.robotics.rcx.legos)
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