13 Apr 2008 motters   » (Master)

The physical construction of the robot is now complete. It looks like this.

http://farm3.static.flickr.com/2169/2408346868_efca6ed26f.jpg

Next weekend I'll do the first dead reckoning runs to determine how quickly position and pose errors typically accumulate. This information will then be used as part of the motion model. I may also need to do additional tuning of the main drive motors, since the original tuning parameters were for an unloaded situation with the robot sitting on a pile of books.

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