https://hades.mech.northwestern.edu//index.php?action=history&feed=atom&title=Mobile_Manipulation_Capstone_2022 2026-04-10T16:17:38Z Revision history for this page on the wiki MediaWiki 1.35.9 https://hades.mech.northwestern.edu//index.php?title=Mobile_Manipulation_Capstone_2022&diff=26354&oldid=prev 2022-11-18T20:52:38Z

<p><span dir="auto"><span class="autocomment">Milestone 1: youBot Kinematics Simulator and csv Output</span></span></p> <table class="diff diff-contentalign-left diff-editfont-monospace" 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 20:52, 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 class="diff-context diff-side-deleted"><div>'''Input:'''</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>'''Input:'''</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><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 class="diff-context diff-side-added"><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 class="diff-deletedline diff-side-deleted"><div>* A 9-vector of controls indicating the <del class="diffchange diffchange-inline">arm joint</del> speeds &lt;math&gt;<del class="diffchange diffchange-inline">\dot{\theta}</del>&lt;/math&gt; (<del class="diffchange diffchange-inline">5</del> variables) and the <del class="diffchange diffchange-inline">wheel</del> speeds &lt;math&gt;<del class="diffchange diffchange-inline">u</del>&lt;/math&gt; (<del class="diffchange diffchange-inline">4</del> variables).</div></td> <td class="diff-marker" data-marker="+"></td> <td class="diff-addedline diff-side-added"><div>* A 9-vector of controls indicating the <ins class="diffchange diffchange-inline">wheel</ins> speeds &lt;math&gt;<ins class="diffchange diffchange-inline">u</ins>&lt;/math&gt; (<ins class="diffchange diffchange-inline">4</ins> variables) and the <ins class="diffchange diffchange-inline">arm joint</ins> speeds &lt;math&gt;<ins class="diffchange diffchange-inline">\dot{\theta}</ins>&lt;/math&gt; (<ins class="diffchange diffchange-inline">5</ins> variables).</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><div>* A timestep &lt;math&gt;\Delta t&lt;/math&gt;.</div></td> <td class="diff-marker"></td> <td class="diff-context diff-side-added"><div>* A timestep &lt;math&gt;\Delta t&lt;/math&gt;.</div></td> </tr> <tr> <td class="diff-marker"></td> <td class="diff-context diff-side-deleted"><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 class="diff-context diff-side-added"><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