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System Integration Questions

Question Asked:

How to find kinematics of a system with 2 differential drives attached together? I have a system like shown in the diagram (https://imgur.com/a/lcc6GMP) where 2 robots having differential drive are physically constrained together. Traditionally for a single robot, we find the Instantaneous center of curvature (ICC)(http://www.cs.columbia.edu/~allen/F17/NOTES/icckinematics.pdf) by equating the "omega" for both wheels. That would work since there are 2 equations (the relationship between the wheel velocities and angular velocity) and 2 unknowns (the distance of ICC from the center of the wheels and the angular velocity). However, in my system, there will be 4 equations and 2 unknowns. So should I solve it as an over-determined system? Or should I only consider the extreme cases ie. left most wheel speed for the left robot and rightmost wheel speed for the right robot?

2 Answers

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Tom Moolayil - Director of Engineering
Uchimura Robotics
tom [dot] moolayil [at] uchimurarobotics.com
(470) 483-3274

I'm assuming you're evaluating some sort of multi robot navigation while collaborating to share a bigger payload. From the diagram the axles will need to be in-line. So for basic calculations you should assume it as a single body and determine leftmost and right most speeds as you mentioned. Once this is done you can translate it to the individual machine. You will need to factor in some offset parameters since the reality will not be idealistic.

Miranda Woods - Marketing Event Coordinator
TUV Rheinland
mwoods [at] us [dot] tuv.com
(847) 208-4328

Hello! Thank you for submitting a question to RIA. Our experts at TUV Rheinland would love to assist you. Would you like to set up a call? If so, please reply with your contact info and I will set you up with one of our experts! Thank you!

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