Full Lecture on Modeling

In these slides, we develop a model of the Duckiebot that estimates how the voltages applied to the motors will cause the Duckiebot to move through space. This involves a model of the DC motors (very approximate) that converts voltages to torques, followed by a model of the dynamics of the robot that converts torques to accelerations and velocities, and finally a model of the robot kinematics that converts accelerations and velocities to position and orientation.

For the accompanying exercise, please see Modeling and Control.