Differential Kinematics

2020-03-20 本文已影响0人 Ysgc

in the R coordinate (polar), assume $\mathbf{r}_{SW} = 0$ (wheel be directly rotated)
$l$ and $\alpha$ to represent the $\mathbf{r}_{RS}$
$\beta$ is the steering angle

reduced version

from inertial coordinate $\xi_I$ to R coordinate $\xi_R$

left hand side

???

right hand side

basic equations for a standard wheel

reduced version

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