Typical Chapter Layout

TODO: Hypothesis Client

NOTE: This is a template for a typical chapter layout. Each chapter will have a similar structure. Students will read the chapter before class, and then we will work through the exercises in class (in a flipped-classroom style).

Remember, we are using hypothesis for this book. So feel free to add questions and comments. See Annotation Tips for Students for more information.

Some introductory text.

“Ask engaging questions that spark people’s curiosity and fascination that people find intriguing…”

What you will learn

• A list of 2 to 5 learning goals

Terminology

• A list of new terms

Lecture

A video of slides, coding, hands-on electronics, etc.

Interactive

TODO: - add frames (wmr and global) - allow global frame to move? - add angle? - cursor style of grab and grabbing - animation? - https://ipesek.github.io/jsxgraphbook/4_3_animation_sliders.html - https://jsxgraph.org/wiki/index.php/Animations

Try dragging the robot around. You can also rotate the robot by dragging from the tip of the forward arrow.

mutable x = 0
mutable y = 0
mutable phi = 0

html`
${tex.block`
\vec{q}(t) = \begin{bmatrix}
    x(t) \\
    y(t) \\
    \phi(t)
\end{bmatrix}
= \begin{bmatrix}
    ${x} \; \text{m} \\
    ${y} \; \text{m} \\
    ${(phi * 180 / Math.PI).toFixed(2)} \degree
\end{bmatrix}
\\[10pt]
R = \begin{bmatrix}
    \cos(\phi) & -\sin(\phi) \\
    \sin(\phi) & \cos(\phi)
\end{bmatrix}
= \begin{bmatrix}
    ${Math.cos(phi).toFixed(2)} & ${-Math.sin(phi).toFixed(2)} \\
    ${Math.sin(phi).toFixed(2)} & ${Math.cos(phi).toFixed(2)}
\end{bmatrix}
`}
`

div_id = "jsxdiv"

graph_style = `
    width: ${width}px;
    height: ${width}px;
    user-select: none;
    overflow: hidden;
    position: relative;
    touch-action: none;
    background-color: #f5f5f5;
    border: solid #DDD 1px;
    border-style: solid;
    border-radius: 10px;
    margin: 0;
`
viewof graph = html`<div id="${div_id}" style="${graph_style}"></div>`

import { WMRGraph } from '../_interactives/WMRGraph/dist/wmr-graph.js';

function updateRotation(newPhi) {
    mutable phi = newPhi.toFixed(2);
}

function updateTranslation(newX, newY) {
    mutable x = newX.toFixed(2);
    mutable y = newY.toFixed(2);
}

new WMRGraph(div_id, updateRotation, updateTranslation);

Exercise

Each “chapter” will include the assignment/exercise. These will be completed in class.

Resources

• Matrix Simulation

Coordinate Transformations - How robots move through space - YouTube

3. Motion modeling
   • Kinematics (direct and inverse)
   • Differential drive
   • Ackerman steering
   • Bicycle model
   • Rear-wheel bicycle drive
   • Unicycle model
   • Tricycle drive
   • Tricycle with a trailer
   • Synchronous drive
   • Omnidirectional drive
   • Track drive
   • Motion constraints
   • Holonomic and non-holonomic constraints

http://msl.cs.uiuc.edu/planning/node657.html

differential kinematics from Correll 3.3

• Mobile Robot Kinematics Equations - MATLAB & Simulink