March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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Calculation of motor RPM
From the specification, we get to know that the maximum speed of the robot is 0.35 m/s. We took the wheel radius as 4.5 cm in the preceding section, and one of the other specifications we need to satisfy is ground clearance. The specified ground clearance is 3 cm, so this wheel is satisfying those requirements too. We can find the rotations per minute (RPM) of the motors using the following equation:
RPM = ((60 x Speed / (3.14 x Diameter of wheel)
RPM = (60 x 0.35) / (3.14 x 0.09) = 21 / 0.2826 = 74 RPM
We can choose a standard 80 RPM or 100 RPM for this robot.