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Somebody can help me with the freedom degrees of a mobile robot

Somebody can help me with the freedom degrees of a mobile robot

RE: Somebody can help me with the freedom degrees of a mobile robot

2 motor wheels and the claw. However you could also add dofs for each sensor, another 3, if you were feeling picky..

 

Cheers

Greg Locock

SIG:Please see FAQ731-376: Eng-Tips.com Forum Policies for tips on how to make the best use of Eng-Tips.

RE: Somebody can help me with the freedom degrees of a mobile robot

GregLocock,

I get 2 dof.  Translation in the X and Y directions.  No translation in Z, or rotation about any axis.  

Rich....viking2

Richard Nornhold, PE
http://www.ovenind.com

RE: Somebody can help me with the freedom degrees of a mobile robot

First you have to define what you mean by degrees of freedom!

I was using machine states, you are using vehicle position and ignoring rotation (why?)

 

Cheers

Greg Locock

SIG:Please see FAQ731-376: Eng-Tips.com Forum Policies for tips on how to make the best use of Eng-Tips.

RE: Somebody can help me with the freedom degrees of a mobile robot

GL has a good point:  depends on your definition.  "DOF" means different things to different people.

I thought it would be this:

The mobile robot's coordinate system, relative to any static WORLD coordinate system, is 6DOF.  Resolved to Caresian coordinates this is [X, Y, Z, RX, RY, RZ] .  Assuming this gizmo can move across a topographical terrain, then there are really no constraints.  I visualize a little buggy moving over a surface and I see the mobile robot's coordinate system moving in all translations and orientations.

TygerDawg
Blue Technik LLC
Virtuoso Robotics Engineering
www.bluetechnik.com

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