Robot Motion Observations

• Rotation to linear motion: distance = 2šr•Rev

  • r = drive tire radius; Rev = revolutions

• 2šr•Rev/sec = speed (distance/sec)

• Rev/sec = Volts•Km - Torque•Ks (steady state)

  • Km & Ks are motor design constants
  • Restraining ‘Torque’ is caused by rolling friction.
  • Initial Torque beyond friction causes robot acceleration to the steady state speed

• When Voltage is removed, friction decelerates robot

• Note the effect of friction due to surface & added weight in the following plots:

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