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5.1. SIMULATION 51
• the torso_frame as well as the laser_tilt_frame is moving.
• only the laser_tilt_frame is moving.
• only the torso_frame is moving.
• no frame is moving.
• the torso and tilt components run at 10 or 20 Hz.
To actually run the simulation further information about the default offset between the frames
and the movement of the joints which connect the frames are needed. Thus for the simulation the
following values are assumed where distances are in meter and angles are in radian:
• base_frame → torso_frame:
translation: o tf = [ 0 0 0.5 ] T
start position:
p tf = 0 m
velocity:
v tf = 0.4 m/s
position uncertainty: σ 2 p,tf = 0.0022
velocity uncertainty: σ 2 v,tf = 0.12
move axis:
[
0 0 1
] T
• torso_frame → laser_tilt_frame:
range: 0.4 ≤ p tf ≤ 1.4
translation: o ltf = [ 0.2 0 0.1 ] T
start position:
p ltf = 0 rad
velocity:
v ltf = π 2 rad/s
position uncertainty: σ 2 p,ltf = 0.012
velocity uncertainty: σ 2 v,ltf = (π 4 )2
rotation axis:
[
0 1 0
] T
range: − π 8 ≤ p ltf ≤ π 8