Difference between revisions of "Robot Dynamics Resources"
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* [https://answers.ros.org/question/231942/computing-odometry-from-two-velocities/ Computing Odometry from two velocities] | * [https://answers.ros.org/question/231942/computing-odometry-from-two-velocities/ Computing Odometry from two velocities] | ||
* [https://en.wikipedia.org/wiki/Rotation_matrix Rotation matrix] | * [https://en.wikipedia.org/wiki/Rotation_matrix Rotation matrix] | ||
| − | * [http://docs.ros.org/jade/api/nav_msgs/html/msg/Odometry. | + | * [http://docs.ros.org/jade/api/nav_msgs/html/msg/Odometry.html Odometry Messages] |
| + | * [https://answers.ros.org/question/9941/twist-message-coordinate-system-convention/ Twist Message Coordinate System Convention] | ||
= Robot Dynamics = | = Robot Dynamics = | ||
| − | * [ | + | * [http://www-personal.umich.edu/~johannb/Papers/pos96rep.pdf Where Am I? Sensors and Methods for Mobile Robot Positioning] J. Borenstein, H.R. Everett, and L. Feng |
| + | ** Sensors for Mobile Robots: Theory and Applicaion. H.R. Everett. A.K. Peters. | ||
* [https://chess.eecs.berkeley.edu/eecs149/documentation/differentialDrive.pdf Differential Drive Robots] | * [https://chess.eecs.berkeley.edu/eecs149/documentation/differentialDrive.pdf Differential Drive Robots] | ||
| + | * [http://rossum.sourceforge.net/papers/DiffSteer/ Elementary Trajectory Model for the Differential Steering System of Robot Wheel Actuators] G.W. Lucas | ||
* [https://www.ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2016/RD2016script.pdf Robot Dynamics Lecture Notes] | * [https://www.ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2016/RD2016script.pdf Robot Dynamics Lecture Notes] | ||
* [https://answers.ros.org/question/154571/how-much-to-turn-to-face-the-goal/ Turn to Face a Goal] | * [https://answers.ros.org/question/154571/how-much-to-turn-to-face-the-goal/ Turn to Face a Goal] | ||
| + | |||
| + | = Example Robots = | ||
| + | |||
| + | * [[Lentin Joseph's chefbot Code]] | ||
| + | * [[Turtlebot 3 Code]] | ||
Latest revision as of 23:24, 22 September 2017
Quaternions
- Quaternoion from Wikipedia
- Primer from OGRE
- ROS Quaternion Tutorial
- How to Use Quaternions Source of above references.
ROS API
- ROS Quaternion API
- ROS Vector3 API
- C++ atan2 API
- atan2 from Wikipedia
- Standard Units of Measure and Coordinate Conventions
Odometry
- Computing Odometry from two velocities
- Rotation matrix
- Odometry Messages
- Twist Message Coordinate System Convention
Robot Dynamics
- Where Am I? Sensors and Methods for Mobile Robot Positioning J. Borenstein, H.R. Everett, and L. Feng
- Sensors for Mobile Robots: Theory and Applicaion. H.R. Everett. A.K. Peters.
- Differential Drive Robots
- Elementary Trajectory Model for the Differential Steering System of Robot Wheel Actuators G.W. Lucas
- Robot Dynamics Lecture Notes
- Turn to Face a Goal
