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

[Misteher]

how many freedom degrees does this have?

http://www.youtube.com/watch?v=zVl3FSWed-0

 

[GregLocock]

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

SIGlease see FAQ731-376 for tips on how to make the best use of Eng-Tips.

 

[nornrich]

GregLocock,

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

Rich....

Richard Nornhold, PE

http://www.ovenind.com

 

[GregLocock]

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

SIGlease see FAQ731-376 for tips on how to make the best use of Eng-Tips.

 

[tygerdawg]

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

http://www.bluetechnik.com