Robot Dynamics Resources

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