https://hades.mech.northwestern.edu//index.php?action=history&feed=atom&title=Mobile_Manipulation_Capstone_2022 2026-05-26T06:52:18Z Revision history for this page on the wiki MediaWiki 1.43.8 https://hades.mech.northwestern.edu//index.php?title=Mobile_Manipulation_Capstone_2022&diff=26354&oldid=prev 2022-11-18T20:52:38Z

<p><span class="autocomment">Milestone 1: youBot Kinematics Simulator and csv Output</span></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 15:52, 18 November 2022</td> </tr><tr> <td colspan="2" class="diff-lineno">Line 183:</td> <td colspan="2" class="diff-lineno">Line 183:</td> </tr> <tr> <td class="diff-marker"></td> <td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>'''Input:'''</div></td> <td class="diff-marker"></td> <td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>'''Input:'''</div></td> </tr> <tr> <td class="diff-marker"></td> <td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* A 12-vector representing the current configuration of the robot (3 variables for the chassis configuration, 5 variables for the arm configuration, and 4 variables for the wheel angles).</div></td> <td class="diff-marker"></td> <td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* A 12-vector representing the current configuration of the robot (3 variables for the chassis configuration, 5 variables for the arm configuration, and 4 variables for the wheel angles).</div></td> </tr> <tr> <td class="diff-marker" data-marker="−"></td> <td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* A 9-vector of controls indicating the <del style="font-weight: bold; text-decoration: none;">arm joint</del> speeds &lt;math&gt;<del style="font-weight: bold; text-decoration: none;">\dot{\theta}</del>&lt;/math&gt; (<del style="font-weight: bold; text-decoration: none;">5</del> variables) and the <del style="font-weight: bold; text-decoration: none;">wheel</del> speeds &lt;math&gt;<del style="font-weight: bold; text-decoration: none;">u</del>&lt;/math&gt; (<del style="font-weight: bold; text-decoration: none;">4</del> variables).</div></td> <td class="diff-marker" data-marker="+"></td> <td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* A 9-vector of controls indicating the <ins style="font-weight: bold; text-decoration: none;">wheel</ins> speeds &lt;math&gt;<ins style="font-weight: bold; text-decoration: none;">u</ins>&lt;/math&gt; (<ins style="font-weight: bold; text-decoration: none;">4</ins> variables) and the <ins style="font-weight: bold; text-decoration: none;">arm joint</ins> speeds &lt;math&gt;<ins style="font-weight: bold; text-decoration: none;">\dot{\theta}</ins>&lt;/math&gt; (<ins style="font-weight: bold; text-decoration: none;">5</ins> variables).</div></td> </tr> <tr> <td class="diff-marker"></td> <td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* A timestep &lt;math&gt;\Delta t&lt;/math&gt;.</div></td> <td class="diff-marker"></td> <td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* A timestep &lt;math&gt;\Delta t&lt;/math&gt;.</div></td> </tr> <tr> <td class="diff-marker"></td> <td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* A positive real value indicating the maximum angular speed of the arm joints and the wheels. For example, if this value is 12.3, the angular speed of the wheels and arm joints is limited to the range [-12.3 radians/s, 12.3 radians/s]. Any speed in the 9-vector of controls that is outside this range will be set to the nearest boundary of the range. If you don't want speed limits, just use a very large number. If you prefer, your function can accept separate speed limits for the wheels and arm joints.</div></td> <td class="diff-marker"></td> <td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>* A positive real value indicating the maximum angular speed of the arm joints and the wheels. For example, if this value is 12.3, the angular speed of the wheels and arm joints is limited to the range [-12.3 radians/s, 12.3 radians/s]. Any speed in the 9-vector of controls that is outside this range will be set to the nearest boundary of the range. If you don't want speed limits, just use a very large number. If you prefer, your function can accept separate speed limits for the wheels and arm joints.</div></td> </tr> </table>

Lynch https://hades.mech.northwestern.edu//index.php?title=Mobile_Manipulation_Capstone_2022&diff=26352&oldid=prev 2022-11-09T15:32:15Z

<p>Created page with &quot;<a href="/index.php/File:Youbot-capstone.png" title="File:Youbot-capstone.png">right|x250px</a> This page describes the capstone project for ME 449. [https://youtu.be/Q1CekpBW6Js &#039;&#039;&#039;A video summary of this project is given in t...&quot;</p> <a href="https://hades.mech.northwestern.edu//index.php?title=Mobile_Manipulation_Capstone_2022&amp;diff=26352">Show changes</a>

Lynch