Society of Robots - Robot Forum
Software => Software => Topic started by: archird on March 30, 2009, 07:21:39 AM
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Hello there,
Recently I am trying to give a simple (at least conseptually) nonholonomic
constraint to a simple two wheeled cart module which will become sub module of serial robot.
The constraint is that there will be no side slip, i.e. the lateral velocity
of the cart will be zero.
For example let (x,y,theta) be the x coordinate, y coodrinate and orientation
of the cart with respect to the inertial fixed frame ,respectively.
Then the constraint becomes: xdot*cos(theta)=ydot*sin(theta)
Do you know how to define this constraint?
Thanks
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the lateral velocity of the cart will be zero.
Do you know how to define this constraint?
xdot=0
xdotdot=0
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xdot=0
xdotdot=0
I suppose you mean xdot=0 and xdotdot=0 in "local body coordinate frame". Is is it possible to give
constraints in body coordinate frame?
Thanks
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hmmmm what is a local body coordinate frame, as opposed to just a body coordinate frame?
I assume you'd need to know the transform . . .