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Kinematics: Robot to Wheel Movement — Parallax Forums

Kinematics: Robot to Wheel Movement

Casey_SCUCasey_SCU Posts: 19
edited 2006-07-06 00:23 in Robotics
Does anyone have any suggestions for determining the kinematic equations relating robot motion to wheel motion?
For instance, if given a desired velocity and rotational speed, what pulse durations would you send to the servos?
Thanks!

Comments

  • PJAllenPJAllen Banned Posts: 5,065
    edited 2006-07-06 00:23
    · I've had some time, so I've been experimenting with the two servos that Parallax sells,·a "standard" and a "continuous".
    · The "continous" is a "standard" that's had its mechanical stop removed and will turn like a motor.· Regarding same, the speed is governed by how quickly you send it pulses, so you could make it chunk like a stepper motor (1/min) or you could max it out with a fast rep-rate (there's a top end on that, too, I'm sure.)· There's an angle(deg)/pulse, but I guess that'll vary unit-to-unit; not widely so, but nonetheless.· [noparse][[/noparse]We're not talking "Sizzlers" or anything here.]
    · Post Edit -- With this program (in a BS2), I'm counting 24·steps / rotation (15DEGs/pulse):
    ·
    DO
       value = 500
       PULSOUT 14, (value/2)
       PAUSE 500
     
    LOOP
    


    · [noparse][[/noparse]SCU = Santa Clara?]

    Post Edited (PJ Allen) : 7/6/2006 12:37:56 AM GMT
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