Modeling and Calibrating a 4-wheel Skid-Steer Research Robot

Report No. ARL-TN-0370
Authors: Gary Haas
Date/Pages: September 2009; 17 pages
Abstract: This report describes the calibration of a commercial Roboteq motor controller which was installed in an iRobot ATRV Jr research robot as part of a system upgrade. The objective of the calibration was to determine the transfer function between a command issued to the robot control system and the path followed by the robot and all relevant parameters. Implicit in the calibration is validation of the model on which the transfer function is based, which is a kinematic model of a 4-wheel skid-steer vehicle.
Distribution: Approved for public release
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Last Update / Reviewed: September 1, 2009