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Learning Robotics using Python

You're reading from   Learning Robotics using Python Design, simulate, program, and prototype an autonomous mobile robot using ROS, OpenCV, PCL, and Python

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Product type Paperback
Published in Jun 2018
Publisher Packt
ISBN-13 9781788623315
Length 280 pages
Edition 2nd Edition
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Author (1):
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Lentin Joseph Lentin Joseph
Author Profile Icon Lentin Joseph
Lentin Joseph
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Table of Contents (12) Chapters Close

Preface 1. Getting Started with Robot Operating System 2. Understanding the Basics of Differential Robots FREE CHAPTER 3. Modeling the Differential Drive Robot 4. Simulating a Differential Drive Robot Using ROS 5. Designing ChefBot Hardware and Circuits 6. Interfacing Actuators and Sensors to the Robot Controller 7. Interfacing Vision Sensors with ROS 8. Building ChefBot Hardware and the Integration of Software 9. Designing a GUI for a Robot Using Qt and Python 10. Assessments 11. Other Books You May Enjoy

Forward kinematics of a differential robot

The forward kinematics equations for a robot with a differential drive system are used to solve the following problem:

If a robot is standing in a position (x, y, θ) at time t, determine the pose (x', y', θ') at t + δt given the control parameters V-left and V-right.

This technique can be calculated by the robot to follow a particular trajectory.

Explanations of the forward kinematics equation

We can start by formulating a solution for forward kinematics. The following figure is an illustration of one of the wheels of the robot:

A single wheel of the robot rotating along the local y-axis

The motion around the y-axis is known as the roll; everything...

You have been reading a chapter from
Learning Robotics using Python - Second Edition
Published in: Jun 2018
Publisher: Packt
ISBN-13: 9781788623315
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