Experimental setup
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Robots Used in the Experiments (up)
Differential Drive (up)
- n = 43.7
- Ce = 64 ppr
- b = 0.2 m
- Dr = Dl = 0.084 m
- Placement of the OptiTrack reflective markers:
- 4 on top of the robot
- 2 on the center of each driven wheel (only needed at the beginning of a data acquisition)
Tricycle (up)
- n = 1
- Ce = 1600 (stepper motor)
- l = 0.15 m
- D = 0.065 m
- Placement of the OptiTrack reflective markers:
- 4 on top of the robot
- 2 on the center of each rear wheel (only needed at the beginning of a data acquisition)
Three-Wheeled Omnidirectional Robot (up)
- n = 12
- Ce = 1024 ppr (the firmware detects the transition between impulses on the 2 channels of the encoders)
- l = 0.195 m
- D1 = D2 = D3 = 0.102 m
- Placement of the OptiTrack reflective markers:
- 4 on top of the robot (due to the mechanical construction, 3 markers on the top allow the estimation of the robot's logic center)
Four-Wheeled Omnidirectional Robot (up)
- n = 1
- Ce = 1 (the data sent by the robot's firmware is in rad/s)
- l1 = l2 = 0.2 m
- D1 = D2 = D3 = D4 = 0.06 m
- Placement of the OptiTrack reflective markers:
- 4 on top of the robot
- 4 on the center of each driven wheel (only needed at the beginning of a data acquisition)
Measurement Tracking System (up)
OptiTrack Motion Capture system:
- 6 Flex3 InfraRed cameras
- Usable area: 3m x 2.5m (total area: 6m x 2.5m)
(area available for the experiments)
Note: the carpet put on the floor is needed to reduce the light reflections that could perturbe the OptiTrack measurements, even though we can put masks on the light reflections in Motive (software platform designed to control the OptiTrack motion capture system).
(Flex3 IR camera)
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