Autonomous Navigation for Flying Robots - Presentation

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Autonomous Navigation for Flying Robots

Lecture 4.3 :. Kinematics and Dynamics. Jürgen . Sturm. Technische. . Universität. . München. Kinematics. Describes . the motion of rigid bodies. Position. Velocity. Acceleration. Jürgen Sturm.

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Autonomous Navigation for Flying Robots






Presentation on theme: "Autonomous Navigation for Flying Robots"— Presentation transcript:

Slide1

Autonomous Navigation for Flying RobotsLecture 4.3 :Kinematics and Dynamics

Jürgen

Sturm

Technische

Universität

MünchenSlide2

KinematicsDescribes the motion of rigid bodiesPosition

Velocity

Acceleration

Jürgen Sturm

Autonomous Navigation for Flying Robots

2Slide3

Example: 1D KinematicsState

Action

Time constant

Linear process model

Jürgen Sturm

Autonomous Navigation for Flying Robots

3Slide4

DynamicsActuators induce forces and torquesForces induce linear accelerationTorques induce angular acceleration

Jürgen Sturm

Autonomous Navigation for Flying Robots

4Slide5

Forces and AccelerationsForces are vectors and can be summed up

Important forces (for us

): Gravity

, thrust, friction

Forces induce accelerations

Jürgen Sturm

Autonomous Navigation for Flying Robots

5

CC BY SA

by Pumbaa80

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massSlide6

Torques and Angular AccelerationsForce on a lever induces a torque (“turning force”)

Forces are vectors and

can

be summed up

Torque results in angular acceleration

Jürgen Sturm

Autonomous Navigation for Flying Robots

6

i

nertial matrixSlide7

Dynamics of a QuadrotorEach propeller induces force and torque by accelerating air

Gravity pulls quadrocopter downwards

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Autonomous Navigation for Flying Robots

7Slide8

Vertical AccelerationThrust

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Autonomous Navigation for Flying Robots

8Slide9

Vertical and Horizontal AccelerationThrust

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Autonomous Navigation for Flying Robots

9Slide10

Vertical and Horizontal AccelerationThrustAcceleration

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Autonomous Navigation for Flying Robots

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attitudeSlide11

Pitch (and Roll)Attitude changes when opposite motors generate unequal thrustInduced torqueInduced angular acceleration

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Autonomous Navigation for Flying Robots

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Side view of

quadrotorSlide12

YawEach propeller induces torque due to rotation and the interaction with the airInduced torqueInduced angular

acceleration

Jürgen Sturm

Autonomous Navigation for Flying Robots

12Slide13

Lessons LearnedRigid body kinematics: Position, velocity, acceleration

Dynamics:

Forces and torques

Application to

quadrotors

Jürgen Sturm

Autonomous Navigation for Flying Robots

13