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Rotational Motion 100%
Key Ideas KEY IDEA ✪ Rotational kinematics uses essentially the same equations as kinematics, but distances, speeds, and accelerations are rotational quantities expressed with radians instead of with meters.
SwerveInverseKinematicsDerivation Swerve Inverse Kinematics Inverse Kinematics The goal of inverse kinematics is to determine the appropriate inputs to a system (in our case, commands to the turning and driving motors) in order to produce a desired output (a velocity vector and a rotational speed and direction for the robot). For swerve, we don’t need to determine what to send the motors directly, since we’re using control loops for that, but we do need to tell those control loops what direction and speed we want for the wheels. Determining the outputs The outputs we want are determined by user input. I decided to keep it simple and set the x component of the desired velocity vector based on the xinput of the left joystick, the y component of the velocity vector based on the yinput of the left joystick, and the desired rotation based on the xinput of the right joystick. I’m considering joystick inputs to be on a range from 1 to 1. Some definitions: V The maximum speed one of our wheel pods can move max V The desired velocity vector of the frame (componentized into V and V ) f f, x f, y ⍵ The desired rotation of the frame; I’m defining counterclockwise as positive f L The vertical length of the robot (measured between contact points of wheels) W The width of the robot (measured between contact points of wheels) √ 2 R = L
The kinematics and dynamics of the mechanism is analyzed.
resume may2014 65%
Jeka on the effects of vertical visual perturbations on human body mechanics in walking Analyzing how random vertical oscillations of a subjects surroundings (controlled, in a virtual reality environment) affect the kinematics of the human body while subjects walk on a treadmill.
resume Resume Diwakaran Ilangovan Diwakaran Ilangovan, sophomore at Yale College Date of Birth: September 1st, 1995 Diwakaran.firstname.lastname@example.org Kinesiology Research at the University of Maryland Department of Kinesiology 11th – 12th grade 35 hrs/wk, 10 wks/yr Research with Dr. John J. Jeka on the effects of vertical visual perturbations on human body mechanics in walking Analyzing how random vertical oscillations of a subjects surroundings (controlled, in a virtual reality environment) affect the kinematics of the human body while subjects walk on a treadmill. By analyzing the components of a subject’s surroundings separately, we can better understand how the brain coordinates stimuli with responses. o Created random signals for use in the experiment and also created the program that coordinated the virtual reality room’s displays with the signal o Analyzed data of a wide range of fields, including general body movement data, Electromyographical data, and eye movement data o Identified Fourier transforms between the signals and the data o Applied physical and mathematical findings to the biological task – identified key features in the data that pointed to specific responses o Produced data for analysis in future studies involving Parkinson's patients and comparative tests with other types of perturbations Full research paper submitted separately, see abstract below Research paper entered in Intel Science Talent Search, selected as semifinalist on Jan 9, 2013.
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