How do you calculate a robot's speed?

I am more curious about who out there has used a GPS to measure robot speed. ?? I can't imaging that being accurate on the end of a 6th axis robot. I know some companies have used the 300mm X vs 25m Z as a standard cycle time evaluation.

Robotic Physical Speed is irrelevant Robots are about productivity and safety Productivity and Safety Speed is not covering the same distance in less time It is covering less distance in the same time Using conventional physics math would result in a SLOWER calculated speed Does anyone really believe that robots are slower? Of course not The context and framework for sustainable productivity are completely different than a road race Can you say apples and oranges? Dream BIG!

To calculate linear speed, the formula is straightforward: linear speed equals the distance traveled divided by the time taken. Measuring distance can be done using a ruler, tape measure, or GPS device, depending on the scale and precision required. For time measurement, options include a stopwatch, timer, or computer software.

Linear speed, or tangential speed, measures how fast an object moves along a straight path.v= d/t v is the speed, d is the distance traveled, and t is the time taken. For circular motion, linear speed is related to angular speed (ω) v=ω?r where: v is the linear speed, ω is the angular speed (in radians per unit of time), and r is the radius of the circular path.

Everything starts from a definition. Do we mean by robot a manipulator on a fixed gantry? A drone? A crawler? Once that is set we can proceed by using the breakdowns listed below. In some cases even these simple equations cannot be used- say a quadrotor- where neither speed of position can be explicitly calculated

Angular speed measures how fast a robot rotates around a particular axis. It is typically expressed in radians per second (rad/s) or degrees per second (°/s). This metric is key for robots involved in tasks requiring precise rotational control, such as robotic arms or autonomous vehicles. Accurate measurement of angular speed helps in fine-tuning robotic systems, optimizing performance, and improving control algorithms. It ensures that robots can execute complex movements reliably and efficiently.

The angular speed of a robot can be calculated using two methods: using encoders and robot geometry, which measures the difference in rotational speeds between the left and right wheels, and using a gyroscope, which measures the robot's angular velocity around its Z-axis. These methods are suitable for wheeled robots with encoders on each wheel and are commonly used for robots with multiple degrees of freedom, such as humanoid robots or drones. The specific approach depends on the robot's type, available sensors, and desired accuracy level.

Angular speed is always the same for a given axis/joint regardless of the robot or link length. Calculating and using angular speed are computationally a lot less complex than linear motion.

Angular speed gauges the angle a robot rotates around a fixed point per unit of time, measured in radians per second (rad/s) or degrees per second (deg/s). Calculating angular speed involves two parameters: the angle rotated and the time taken. Tools like protractors, compasses, or gyroscopes measure the angle, while stopwatches, timers, or computers quantify time. The formula for angular speed is angular speed = angle / time. For instance, if a robot completes a 90-degree rotation in 3 seconds, its angular speed is 30 deg/s (angular speed = 90 / 3 = 30 deg/s).

See my comment above, what applies to linear speed will be slightly resolved using the IMU by mean o fKalman filtering and smoothenning of the rotational accelerations and velocity. One has to take into account referential changes in order to have the right absolute and relative rotations though.

The tangential speed of a robot can be calculated using three scenarios: a specific point on a robot's wheel, the end effector of a robotic arm, and the overall tangential speed of a robot moving along a curved path. The calculation depends on the robot's type and the specific point of interest. For a wheel, the tangential speed can be calculated using the formula: tangential speed = angular_speed * radius. For an end effector, the calculation may be more complex due to the arm's motion and link geometry. The tangential speed is the magnitude of the robot's velocity vector at any given point on the path.

Tangential speed refers to the linear speed of a point on a rotating object as it moves along its circular path. It is crucial to understand the dynamics of robots with rotating parts, such as wheels, arms, or any components involved in circular motion. By understanding and calculating tangential speed, you can fine-tune your robot’s movement, enhance stability, and improve efficiency in various tasks. This knowledge helps in designing systems that perform well under rotational forces and complex motion dynamics.

Tangential speed characterizes the linear speed of a point on the periphery of a rotating object, typically measured in meters per second (m/s) or kilometers per hour (km/h). Calculating tangential speed involves the object's angular speed and the radius of rotation. These values can be determined directly or through formulas for angular speed and radius. The formula for tangential speed is straightforward: tangential speed = angular speed x radius. For instance, if a robot wheel rotates at 30 deg/s with a radius of 0.1 meters, the tangential speed at a point on the wheel is 3 m/s (tangential speed = 30 x 0.1 = 3 m/s).

Provided a curvilinear motion, the reading of motion sensors on successive points and the knowledge of time stamp can give you the tangential speed. It can also be determined in terms of the change in singular points (derivative=0) or inflection as a change in lateral acceleration (centripetal, centrifugal, Coriolis forces) and longitudinal (curvilinear speed) w.r.t the rotational radius of the trajectory at this point.

There are two main methods to calculate the average speed of a robot: using total distance and total time, and using instantaneous speeds and time intervals. The simplest method involves calculating the total distance and time taken by the robot. The more accurate method involves taking the average of all instantaneous speeds, weighted by the corresponding time intervals. External sensors, such as cameras or LiDAR, can also be used to measure the average speed indirectly. The choice of method depends on available data and desired accuracy level.

Usually, the robot's average speed is being calculated by dividing its entire distance traveled by the total time it takes to cover that distance. Typically, it is expressed in either kilometers per hour (km/h) or meters per second (m/s). The robot's entire distance traveled and the total time it took to cover that distance are the two factors you need to know in order to compute average speed.

Average speed is the total distance traveled divided by the total time taken. It gives a clear picture of how efficiently a robot moves over a period, even if its speed fluctuates. verage speed is particularly useful in real-world applications where the robot’s speed might not be constant. It accounts for variations in speed over different segments of its path, providing a more realistic measure of performance. Average speed calculations are essential for assessing performance in tasks like material handling, autonomous navigation, and any application involving varying speeds. It helps in benchmarking and comparing different systems or configurations.

Average speed quantifies the total distance covered by a robot divided by the total time taken, usually measured in meters per second (m/s) or kilometers per hour (km/h). Calculating average speed involves knowing the total distance and total time. These values can be determined directly or through formulas for linear speed and distance. The formula for average speed is: average speed = total distance / total time. For instance, if a robot travels 20 meters in 10 seconds, pauses for 5 seconds, then covers another 10 meters in 5 seconds, the average speed is 1.5 m/s (average speed = (20 + 10) / (10 + 5 + 5) = 30 / 20 = 1.5 m/s).

Brilliant explanation of instantaneous speed in robotics! Understanding the speed of a robot at a specific moment is crucial for real-time applications. Your example makes the concept crystal clear. Excited to apply this in my robotics endeavors!

Instantaneous speed refers to the rate at which a robot is moving at a specific point in time. Unlike average speed, which looks at overall performance over a period, instantaneous speed provides a precise measure of velocity at any given moment. Instantaneous speed is crucial for applications requiring immediate response and precision, such as autonomous navigation, robotic arms in manufacturing, and dynamic path adjustments. It helps in making real-time decisions and corrections to ensure smooth and accurate operation.

Since "calculating robot's speed" is itself a big topic, classifications in this post is good. But there are other few speed topics to look - joint speed, operational speed, programming speed, end effector speed

To calculate a robot’s speed while considering acceleration, you’ll need to use a kinematic equation. The basic equation to calculate speed with acceleration is: Final speed= initial speed+ (acceleration x time) Where: ? Final Speed (Vf) is the speed of the robot after a certain time has passed. ? Initial Speed (Vi) is the speed of the robot at the beginning of the time interval. ? Acceleration (a) is the rate at which the robot’s speed is changing. ? Time (t) is the duration over which the acceleration is applied. If you know the initial speed, acceleration, and time, you can use this equation to find the final speed.

To discuss the speed of a robot is somewhat misleading. As always it’s that exact application that’s of interest. Let’s give you a few scenarios: In the first situation a person studied the datasheets of two different robots of different brands A & B. According to the data sheets brand A had significantly angular velocity than brand B. Despite this, brand B can do more palletizing cycles than brand A. This comes from the acceleration of the axles and the control algorithms executing the movements. The lesson here is that the speed of a datasheet will tell you very little.

I read few comments and they are really good. Regarding gps- while it can be used, it is not direct neither precise method. Also it is a workable solution for indoor applications. LiDAR needs a clean environment, optical odometry is a great solution however it is not a direct method as well. I wrote a whole book about it, we have lots of transformation matrices between linear angular and pixels…

To calculate the instantaneous speed of a robot, use encoders and kinematics for wheeled robots, odometry for internal sensors, external sensors like cameras or LiDAR, or specific robot motion information. The formula is: instantaneous speed = (left_wheel_speed + right_wheel_speed) / 2 * wheel_radius. For gyroscopes, use odometry to estimate the robot's position and orientation over time. For pre-programmed robots, use joint positions, velocities, or control signals. Ensure proper sensor calibration and consider potential errors in measurements.