Professional Documents
Culture Documents
etin Merili
25.09.2007
Outline
Preliminaries
Kinematic Configuration Probabilistic Kinematics
Kinematic Configuration
In general the configuration of a robot can be
described by six parameters.
Robot Motion
Robot motion is inherently uncertain. How can we model this uncertainty?
ideal case
carpet
6
Velocity-based models have to be applied when They calculate the new pose based on the
velocities and the time elapsed.
8
Dead Reckoning
the present location of a vehicle. Achieved by calculating the current pose of the vehicle based on its velocities and the time elapsed.
Velocity-Based Model
10
Mathematical Derivation
On Board
11
with
12
13
14
2 x =
e 2
1x 2 2
2 x =
0 ifx 6
62 x
6
2
16
17
106 samples
19
103 samples
104 samples
105 samples
106 samples
20
21