Alt-BEAM Archive

Message #07909



To: beam@sgiblab.sgi.com
From: "Tom Edwards" edwards9@hotmail.com
Date: Mon, 22 Nov 1999 13:19:32 PST
Subject: [alt-beam] degrees of freedom


a typical light-seeking head's position can be described with a single
parameter, i.e. its angle from some reference, so that is only a
one-degree-of-freedom device. in terms of aviation technology, one usually
thinks of this as "yaw"

a light-seeking head that has two motors has two parameters, again
measurable as angles from some references, so that is a
two-degree-of-freedom device. in this case you've added pitch to yaw

a light-seeking head that has three motors is a three-degree-of-freedom
device. this would be the case where you've got roll, pitch, and yaw. at
present this is only likely to be important for satbot but one could think
of reasons for using it on a terrestrial robot, for example, if one side of
the robot was higher than the other and you wanted to keep the head "level"

not that anyone cares about these definitions...


______________________________________________________



7910 Mon, 22 Nov 1999 14:04:38 -0800 [alt-beam] Re: degrees of freedom "'beam@sgiblab.sgi.com'" Wilf Rigter Thank you!


not that anyone cares about these definitions... huh?

To the contrary, it immediately gave me ideas about measuring the "attitude"
of a "bothead". Roll is interesting since it requires a horizon (ie a line)
as a reference instead of the point source required for pitch and yaw. So
how would you do this?

regards

Wilf Rigter mailto:wilf.rigter@powertech.bc.ca
tel: (604)590-7493
fax: (604)590-3411

> -----Original Message-----
> From: Tom Edwards [SMTP:edwards9@hotmail.com]
> Sent: Monday, November 22, 1999 1:20 PM
> To: beam@sgiblab.sgi.com
> Subject: degrees of freedom
>
> a typical light-seeking head's position can be described with a single
> parameter, i.e. its angle from some reference, so that is only a
> one-degree-of-freedom device. in terms of aviation technology, one
> usually
> thinks of this as "yaw"
>
> a light-seeking head that has two motors has two parameters, again
> measurable as angles from some references, so that is a
> two-degree-of-freedom device. in this case you've added pitch to yaw
>
> a light-seeking head that has three motors is a three-degree-of-freedom
> device. this would be the case where you've got roll, pitch, and yaw. at
>
> present this is only likely to be important for satbot but one could think
>
> of reasons for using it on a terrestrial robot, for example, if one side
> of
> the robot was higher than the other and you wanted to keep the head
> "level"
>
> not that anyone cares about these definitions...
>
>
> ______________________________________________________
>


7911 Mon, 22 Nov 1999 16:28:50 -0600 degrees of freedom beam@sgiblab.sgi.com owner-beam@sgiblab.sgi.com [mailto:owner-beam@sgiblab.sgi.com]On
a typical light-seeking head's position can be described with a single
parameter, i.e. its angle from some reference, so that is only a
one-degree-of-freedom device. in terms of aviation technology, one usually
thinks of this as "yaw"

a light-seeking head that has two motors has two parameters, again
measurable as angles from some references, so that is a
two-degree-of-freedom device. in this case you've added pitch to yaw

a light-seeking head that has three motors is a three-degree-of-freedom
device. this would be the case where you've got roll, pitch, and yaw. at
present this is only likely to be important for satbot but one could think
of reasons for using it on a terrestrial robot, for example, if one side of
the robot was higher than the other and you wanted to keep the head "level"

not that anyone cares about these definitions...


______________________________________________________



7912 Mon, 22 Nov 1999 17:37:15 -0800 (PST) [alt-beam] psh question #3 beam@sgiblab.sgi.com BotDoc Thanks Wilf,
I am wondering if it is possible to be able to
control 2 enable pins with this type of circuit. What
I am trying to do is have both of the enable pins on
another IC low when the head is locked on, then when
the head turns one direction it raises the voltage of
one enable pin, turning that side off. I am just
trying to control the enable pins of the hemicore
circuit I posted a while ago to make my walker
phototropic, it turns just fine by toggling the
enables. It would be nice to put a head on it. The
balancing and everything is fine with the head on the
body, if I could only get them to communicate with
each other. Thanks again
Justin

=====
A motor is a robot waiting to happen
__________________________________________________
Do You Yahoo!?
Bid and sell for free at http://auctions.yahoo.com



7913 Mon, 22 Nov 1999 21:35:59 -0500 [alt-beam] Okay, this is going to sound strange... "BEAM" "Richard Caudle"
content-transfer-encoding: quoted-printable


---------------------------------------------------------------------------=
-----

I've been building ChloroPoppers ever since I figured out how to do it (abo=
ut five days). The two bots that I've made so far have very different 'beh=
aviors'. 8/2 Brutus had a nice long cycle that turned the critter about 90=
+ degrees each firing. The OTHER had a short, rapid cycle (compared to 82B=
). Tonight I went a little crazy with my glue gun and glued the dickens ou=
t of poor 82B. Now it cycles like The OTHER did. =


So you're thinking that I've got two bots that fire relatively fast, right?=
Wrong!

The OTHER is now turning like 82B was! 82B is now turning like The OTHER w=
as! I can't figure out what is going on. I don't think that I'm having a =
Psychotic Episode. Neither do I. Does anyone have any ideas for me? Coul=
d it be that there's only so many photons to go around and The OTHER is now=
gobbling more than 82B?

Please help keep me out of the loony bin!

Richard Caudle
www.geocities.com/frankendaddy
Home ICQ - Frankendaddy

---------------------------------------------------------------------------=
-----

Guardians of the sacred words: Nee, Ptang, and NeeWhon! =



content-transfer-encoding: quoted-printable



>



I've been building ChloroPoppers=
ever =

since I figured out how to do it (about five days).  The two bots that=
I've =

made so far have very different 'behaviors'.  8/2 Brutus had a nice lo=
ng =

cycle that turned the critter about 90+ degrees each firing.  The OTHE=
R had =

a short, rapid cycle (compared to 82B).  Tonight I went a little crazy=
with =

my glue gun and glued the dickens out of poor 82B.  Now it cycles like=
The =

OTHER did. 

 

So you're thinking that I've got=
two bots =

that fire relatively fast, right?  Wrong!

 

The OTHER is now turning like 82=
B =

was!  82B is now turning like The OTHER was!  I can't figure out =
what =

is going on.  I don't think that I'm having a Psychotic Episode. =
=

Neither do I.  Does anyone have any ideas for me?  Could it be th=
at =

there's only so many photons to go around and The OTHER is now gobbling mor=
e =

than 82B?

 

Please help keep me out of the l=
oony =

bin!

 





Guardians of the sacred words: N=
ee, =

Ptang, and NeeWhon!         =





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