Here are necessary parameters of kobuki for conversion of encoder ticks to robot pose.
| Name | Value | Description | |
|---|---|---|---|
| Robot Parameter | wheelbase(bias) | 230 mm | length between the center of the wheels |
| wheel radius | 35 mm | ||
| wheel width | 21 mm | ||
| Magnetic Encoder | ticks per revolution | 52 tick/rev | |
| pulses per revolution | 13 pulse/rev | ||
| Gear Box | 1st stage | 1 : 10 | motor to wheel or encoder to wheel |
| 2nd stage | 22 : 12 | ||
| 3rd stage | 30 : 11 | ||
| 4th stage | 35 : 12 | ||
| 5th stage | 34 : 1 | ||
| resultant ratio | 6545/132 = 49.5833 | 6545 turns of motors(or encoders) will make 132 turns of wheels | |
| Conversions | tick to meter | 0.000085292090497737556558 m/tick | |
| tick to radian | 0.002436916871363930187454 rad/tick | ||
| meter to tick | 11724.41658029856624751591 tick/m | ||
| millimeter to tick | 11.72441658029856624751591 tick/mm |