View unanswered posts | View active topics It is currently Fri May 26, 2017 11:08 am

Reply to topic  [ 1 post ] 
Translation the shaft encoder data 
Author Message

Joined: Sun Jul 20, 2014 10:14 pm
Posts: 11
Post Translation the shaft encoder data
Hi all,

 Have a nice day ,

I am designing a robot in real world and i want to plot everything in X,Y (Cartesian) coordinates I just want to use the encoders of wheels to determine the current position of mobile robot and its orientation depending on a specific calculation formula even if that will lead to inaccurate calculations .

Actually , I found out this formula below to compute x, y coordinates from encoder data but I still confused in some sides of this formula


I had a Rover 5 chassis form Dagu with two normal DC motors and two encoders (incremental rotary encoder) per each wheel, how could I translate the pulses of encoders or how to work out the x.y position of the robot based on the shaft encoder data.

I deduced some of values from Rover 5 chassis :

cm = conversion factor that translates encoder pulses into linear wheel displacement Dn = nominal wheel diameter (in mm)

about 20 Cm

Ce = encoder resolution (in pulses per revolution)

Encoder resolution: 1000 state changes per 3 wheel rotations

n = gear ratio of the reduction gear between the motor (where the encoder is attached) and the drive wheel.

Gearbox ratio: 86.8:1

In Rover 5 chassis there are 4 small wires with female headers. RED is +5V for the encoder , BLACK is 0V (ground) , WHITE is signal A , YELLOW is signal B . The impotent wires in each encoder are signal A and signal B ,so

How to get values of NL , NR in the formula above from signal A & signal B ?

Is the value of NL is the direct value from wire signal A or signal B ? the same question for NR .

Thanks a lot

Sun Aug 10, 2014 1:55 pm
Display posts from previous:  Sort by  
Reply to topic   [ 1 post ] 

Who is online

Users browsing this forum: No registered users and 1 guest

You cannot post new topics in this forum
You cannot reply to topics in this forum
You cannot edit your posts in this forum
You cannot delete your posts in this forum
You cannot post attachments in this forum

Search for:
Jump to:  

Powered by phpBB © 2000, 2002, 2005, 2007 phpBB Group.
Designed by ST Software for PTF.