# 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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## 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

2Slide3

Example: 1D KinematicsState

Action

Time constant

Linear process model

Jürgen Sturm

3Slide4

DynamicsActuators induce forces and torquesForces induce linear accelerationTorques induce angular acceleration

Jürgen Sturm

4Slide5

Forces and AccelerationsForces are vectors and can be summed up

Important forces (for us

): Gravity

, thrust, friction

Forces induce accelerations

Jürgen Sturm

5

CC BY SA

by Pumbaa80

http

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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

6

i

nertial matrixSlide7

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

Jürgen Sturm

7Slide8

Vertical AccelerationThrust

Jürgen Sturm

8Slide9

Vertical and Horizontal AccelerationThrust

Jürgen Sturm

9Slide10

Vertical and Horizontal AccelerationThrustAcceleration

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10

attitudeSlide11

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

Jürgen Sturm

11

Side view of

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

acceleration

Jürgen Sturm

12Slide13

Lessons LearnedRigid body kinematics: Position, velocity, acceleration

Dynamics:

Forces and torques

Application to