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Added error plot

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Sharwin24 2025-01-03 10:24:30 -08:00
parent 741c6f6500
commit 5d50861043
2 changed files with 4 additions and 4 deletions
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content/posts/mobile-manipulation/index.md
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@ -1,8 +1,8 @@
--- ---
title: "Mobile Manipulation" title: "Mobile Manipulation"
date: 2024-12-30T09:00:00+00:00 date: 2025-01-02T09:00:00+00:00
description: Introduction to Sample Post description: Introduction to Sample Post
hero: images/kavar_background.jpg hero: images/error_plot.png
author: author:
image: /images/sharwin_portrait.jpg image: /images/sharwin_portrait.jpg
menu: menu:
@ -30,8 +30,8 @@ where:
- \\(u_i\\) is the wheel velocity - \\(u_i\\) is the wheel velocity
- \\(r_i\\) is the wheel radius - \\(r_i\\) is the wheel radius
- \\(\gamma_i\\) is the angle of the roller relative to the wheel's driving direction - \\(\gamma_i\\) is the angle of the roller relative to the wheel's driving direction
- \\(\beta_i\\) is the angle of the wheel relative to the robot's x-axis - \\(\beta_i\\) is the angle of the wheel relative to the body frame
- \\(x_i\\) and \\(y_i\\) are the x and y coordinates of the wheel relative to the robot's center - \\(x_i\\) and \\(y_i\\) are the x and y coordinates of the wheel relative to the body frame's origin
- \\(V_b\\) is the robot's 3D body twist, composed of the linear and angular velocity: \\([v_x, v_y, \omega]\\) - \\(V_b\\) is the robot's 3D body twist, composed of the linear and angular velocity: \\([v_x, v_y, \omega]\\)
![Mecanum Base](mecanum_base.png) ![Mecanum Base](mecanum_base.png)