Kinematics and Dynamics of Dicycle Robots Flashcards
(14 cards)
What is a continuous-time signal?
A signal x(t) that varies continuously with time
What is a discrete-time signal?
A signal x(k) which is defined only at a sequence of discrete values k
What is Digital Signal Processing?
The method used to allow a computer to process continuous data within a digial manner
If you have a signal where you know the bandwith, what count should be used to discretize the system?
At least double e.g. 200Hz should use at least 400 samples
When is a system linear or non-linear?
If x^1 and x^2 are two inputs to a system with responses (i.e. outputs) y^1 and y^2 respectively, then a system is linear
If this isn’t correct, then the system is nonlinear
When is a system time-invariant or time-variant?
If system parameters don’t change with time, then the system is time invariant
In a time-varying system, the input-output relationship changes with time
What are the two main axis systems used?
Vehicle Axis System: x-y-z and is fixed o the vehicle and moves with it
Earth-Fixed Axis System: X-Y-Z and is defined in terms of a fixed reference point on the ground
Define Mechanics, Kinematics and Dynamics
Mechanics - Action of Forces on Material Objects With Mass
Kinematics - Part of Mechanics Concerned With the Motion of Objects
Dynamics - Studying Time Varying Phenomena of the Combined Mechanical of Kinematical Concepts
How are the dynamics of a system modelled?
A set of ordinary equations
What are the degrees of freedom of a system related to?
The Dynamic Components of the System
What is a Transfer Function?
The Frequency-Domain Equivalent Model of the Time-Domain Equations of Linear Systems
What is Odometry about?
Local measurement of translational and rotations speed and accepetations w.r.t robot axis system
What does Localisation mean?
Finding the robot position within the ground-fixed axis
What is Odometric Localisation?
Getting the location using the odometrical measurements
