@@ -55,7 +55,7 @@ In this experiment the robot should have travelled a total of 20*4=80 cm. Using
...
@@ -55,7 +55,7 @@ In this experiment the robot should have travelled a total of 20*4=80 cm. Using
In order to minimise the error we replaced the wide offroad wheels with slim wheels with a slightly smaller diameter. The slim wheels have a diameter of 30 mm and a track width of 15 cm. Additionally we equipped the robot with an extended pointer to make sure the robot drives straight from the beginning.
In order to minimise the error we replaced the wide offroad wheels with slim wheels with a slightly smaller diameter. The slim wheels have a diameter of 30 mm and a track width of 15 cm. Additionally we equipped the robot with an extended pointer to make sure the robot drives straight from the beginning.
##### Fig. 5 - Robot with slim wheels - end position aften run.
##### Fig. 5 - Robot with slim wheels - end position aften run.
This time the robot ended 1 mm to the right and 1.5 mm in front of the initial position revealing an error of (80.18/80*100)-100 = 0.225 %. The robot’s pose values show that the robot have travelled 1.6 mm too far and 1.7 mm to the right (see fig. 6).
This time the robot ended 1 mm to the right and 1.5 mm in front of the initial position revealing an error of (80.18/80*100)-100 = 0.225 %. The robot’s pose values show that the robot have travelled 1.6 mm too far and 1.7 mm to the right (see fig. 6).
