Appendix : Kobuki Parameters

Overview

Here are necessary parameters of kobuki for conversion of encoder ticks to robot pose.

Kobuki Parameters

NameValueDescription
Robot Parameterwheelbase(bias)230 mmlength between the center of the wheels
wheel radius35 mm
wheel width21 mm
Magnetic Encoderticks per revolution52 tick/rev
pulses per revolution13 pulse/rev
Gear Box1st stage1 : 10motor to wheel
or encoder to wheel
2nd stage22 : 12
3rd stage30 : 11
4th stage35 : 12
5th stage34 : 1
resultant ratio6545/132 = 49.58336545 turns of motors(or encoders) will make 132 turns of wheels
Conversionstick to meter0.000085292090497737556558 m/tick
tick to radian0.002436916871363930187454 rad/tick
meter to tick11724.41658029856624751591 tick/m
millimeter to tick11.72441658029856624751591 tick/mm


kobuki_driver
Author(s): Daniel Stonier , Younghun Ju , Jorge Santos Simon
autogenerated on Thu Aug 27 2015 13:43:58