Lecture 3, March 3: Course Robot Projects: 1) Design Project, 2) ROS/Pioneer lab robot project; Introduction to ROS; Locomotion, Kinematics, and Low level Motion Control
Course Robot Projects
Team works:
1) Design of a case robot system
2) Testing algorithms under ROS/ Pioneer
Introduction to ROS/Pioneer robot
Locomotion, Kinematics, and Low level Motion Control
• Locomotion – Principles and mechanisms to make the robot move.
• Kinematics – How to model motion of (rigid) bodies?
• Kinematics – How to model motion of (rigid) bodies?
Kinematics for a differential drive robot
• Motion control – How to make a robot attain a goal or follow a trajectory?
For Outdoor, Kinematics for a Wheeled Mobile Robot (WMR)
WMR Velocity Kinematics for Fixed Contact Point – General Theory, not required in Exam