I'm designing leader follower feedback controller for crawler robots .Here rear wheel is connected to front via a joint so that it can follow front when it turns ,for both the module(front &rear ) I have used differential drive robots .Now I'm facing problem in turning constraints because of the yaw joint angle measurements.
Here I'm attaching the paper following
Thank you
Hello Dr. Reshma T C
The formula to calculate the Yaw Joint Angle, θj is not given in Kelley et al. (2015). However, you can actually deduce the method to determine θj from Fig. 4:
θj = θ1 – θ2 .
I apologize that I don't have the permission from the publisher or the authors to reproduce the Fig. 4 image. So I just cropped the image and add some info so that you can understand from the visual. If unnecessary trouble is caused, please REPORT this post and get it deleted.
Conference Paper Design and experimental validation of a simple controller fo...
Dear Reshma T C,
Also for more details and information about this subject, i suggest you to see links on topic.
http://www.unusuallocomotion.com/medias/files/m-spie-magcrawler-2015.pdf
https://www.semanticscholar.org/paper/Combot%3A-Compliant-climbing-robotic-platform-with-Lee-Wu/c4ec881f4ba75dc7718ac33fd3cb7cc35d71f8cf
https://www.researchgate.net/publication/249320328_Design_modeling_and_control_of_a_pneumatically_actuated_manipulator_inspired_by_biological_continuum_structures
https://www.nature.com/articles/s41578-018-0009-8/
Best regards
Reshma T C
I suggest these links, have a look:
1. https://automaticaddison.com/how-to-derive-the-state-space-model-for-a-mobile-robot/
2. https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2017/RD_HS2017script.pdf
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