Numerical Integration of acceleration and velocity

[mechanical Engineer]

I am controlling a differential robot mounted by two motors. I am using encoders to sense the motion of the robot. I have kinematic equations to obtain the linear and angular velocity of the robot using the reading of  wheel velocity coming from encoders. My problem now is the way to do numerical integrations for the resulted velocities.

I need to know a method for doing numercal integration.

[Greg_J · Accepted solution]

Hi.  I assume that you are wanting to integrate velocity to track the position of your robot?  LabVIEW has Integration & Differentiation VIs that should get the job done.  Also, depending on the configuration of your robot, you could directly calculate position from the measured count of the encoder based on the resolution of the encoder and the diameter of the wheel.  I hope this helps!

Message Edited by VTHokie on 05-24-2010 11:51 AM

[mechanical Engineer]

thanks alot.

I think the problem is in its way to be solved.