![]() ![]() Riding a bicycle at a constant velocity into the wind demands more effort than riding with the wind, and a cross-wind makes the relation between power and velocity even more complicated. It needs more power to sustain a specific velocity when moving uphill and less power when moving downhill, because the force of gravity decreases and increases the velocity. ![]() Too little friction (ice) or too much friction (mud) can cause a robot to move slower in comparison with its movement on a dry paved surface.Įxternal forces can affect the velocity of a robot. The environment affects the velocity of a robot. Small differences in the properties of the magnet and wire, as well as small differences in the size and weight of the shaft, can cause the shafts of two motors to rotate at slightly different speeds for the same amount of power. A motor is composed of magnets and electrical wiring whose interaction causes a mechanical shaft to rotate. No two electrical or mechanical components are ever precisely identical. However, we cannot specify that a certain power causes a certain velocity: When power is applied to the motors it causes the wheels to rotate, which in turn causes the robot to move at some velocity. In general, if a robot moves at a constant velocity v for a period of time t, the distance it moves is \(s=vt\). Footnote 1 The distance it moves is 50 cm. Suppose that a robot moves with a constant velocity of 10 cm/s for a period of time of 5 s. This process is experimental and the keywords may be updated as the learning algorithm improves. ![]() These keywords were added by machine and not by the authors. The concept of holonomic motion relates the DOF and the DOM. The DOF can be different from the degrees of mobility (DOM), which are the DOF that can be directly accessed. The number of actuators of the robot can be more or less than the DOF. The degrees of freedom (DOF) of a system is the number dimensions through which it can move. Inertial navigation systems perform odometry based on accurate measurement of linear and angular acceleration. Wheel encoders enable more accurate odometry. Odometry is subject to errors caused by uncertainty in the components of the robot and unevenness of the surface. If the robot changes its heading as it moves, trigonometry is needed to compute the new position. When the robot moves for a period of time its new position can be determined by odometry: integrating the velocity of the robot over the period of its motion to obtain distance or integrating the acceleration to get velocity and integrating again to obtain distance. The focus in this book is on mobile robots that move on a surface. ![]()
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