Is TurtleBot differential drive?
The Turtlebot is essentially a Roomba vacuuming robot that has been modified to allow for programming of its motions. It is a differential drive robot, as its motions are empowered by the interaction of two motor-driven wheels with the ground.
What is differential driving?
The differential is a set of gears that transmits engine power to the wheels, while allowing them to turn at different speeds on turns. With rear-wheel-drive (RWD), the differential is between the rear wheels, connected to the transmission by a driveshaft.
Where is the caster wheel on a differential drive robot?
In addition to the two drive wheels, a caster wheel (as on the bottom of an office chair) is placed in the rear center to prevent the robot from toppling over. (b) The parameters of a generic differential-drive robot.
What is the ICC in differential drive kinematics?
The point that the robot rotates about is known as the ICC – Instantaneous Center of Curvature (see figure 1). Figure 1: Differential Drive kinematics (from Dudek and Jenkin, Computational Principles of Mobile Robotics. By varying the velocities of the two wheels, we can vary the trajectories that the robot takes.
How are differential drives used in mobile robots?
Figure 13.2: (a) The Pioneer 3-DX8 (courtesy of ActivMedia Robotics: MobileRobots.com), and many other mobile robots use a differential drive. In addition to the two drive wheels, a caster wheel (as on the bottom of an office chair) is placed in the rear center to prevent the robot from toppling over.
How to calculate the position of a robot?
First, let’s assume the center between both wheels marks the position of the robot. In this case, one could calculate the position as: “Deriving” those equations under the assumption that both wheels rolled in a straight line (which should be approximately correct for small distances) I get: