Radius is 2m, please show work when possible. You are given a robot as shown in

Question

Radius is 2m, please show work when possible.

You are given a robot as shown in Figure 1 with dimensions as shown. We observe it from an inertial frame denoted by IXIY. Let us assume r = 2m and d = 1m. For each question, the robot starts with pose P=[4.0, 2.0, 30 degree ]T in the inertial frame. Further, you set the robot velocities at the start, and keep it unchanged for each question. Finally, the robot can drive its wheels between zero and one radians per second. Question : The objective for this question is to turn the robot to align the robot x-axis parallel to the inertial x-axis facing the negative direction. What is the fastest way to drive the robot to do the same? How long does this take? What is the final pose of the robot in the inertial frame?

Explanation / Answer

Hi,

There was a problem with image upload to Chegg. So, here is the link to the images

Page 1

https://drive.google.com/file/d/0BzsApW5yffhsbDJDQUF2WWN2ck0/edit?usp=sharing

Page 2

https://drive.google.com/file/d/0BzsApW5yffhsUHFib0YxXzNMX2M/edit?usp=sharing

Page 3

https://drive.google.com/file/d/0BzsApW5yffhsZFlnRmRMeF96dm8/edit?usp=sharing

Let me know if anything is unclear.

Cheers,

Saurav

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