I'm attempting to build a line follower robot and I'm currently in the process of building appropriate models.
For the control system I need to define a coordinate system. The most convinient coordinate system from many point of views would be a coordinate system that moves along and changes direction with the robot, thus a rotating and accelerating reference frame.
The question is if calculations regarding acceleration still would be valid if they are carried out in the same way as in a fixed reference frame.
The calculations to be carried out are:
ƩM = Jω' - Angular acceleration related to net torque applied
ƩF = ma - Acceleration of center of gravity related to net force applied
I've glanced some about information regarding the coriolis effect but I dont really understand it yet. No "loose" object are to be treated in the reference frame.
For the control system I need to define a coordinate system. The most convinient coordinate system from many point of views would be a coordinate system that moves along and changes direction with the robot, thus a rotating and accelerating reference frame.
The question is if calculations regarding acceleration still would be valid if they are carried out in the same way as in a fixed reference frame.
The calculations to be carried out are:
ƩM = Jω' - Angular acceleration related to net torque applied
ƩF = ma - Acceleration of center of gravity related to net force applied
I've glanced some about information regarding the coriolis effect but I dont really understand it yet. No "loose" object are to be treated in the reference frame.