A differential drive mobile robot has following properties: r = 12 cm; l = 50 cm;...
A differential drive mobile robot has following properties: r = 12 cm; l = 50 cm; N = 256; The robot travels along a straight line for which nr = n = 512 pulses are counted and it takes 10 seconds to travel this distance. What are the right-wheel angular velocity wr and left-wheel angular velocity w? Notation: r; radius of robot's right and left wheels; 1: axle length; N:right and left incremental encoder-disk holes; nr:right-encoder pulse, nu: left-encoder pulse, wr: angular speed of right-wheel, w: angular speed of left-wheel Lütfen birini seçin: O WR = W = 0.80 rad/sec WR = W1 = 1.26 rad/sec WR = W = 0.40 rad/sec WR = W1 = 0.63 rad/sec