Hello,
first of all excuse my bad english, i don't if i'm in the good section or no.
I'm working on a turtelbot 2 project.
the subject is the do a PID controller i don't how to go from the q=[x;y;theta] to the torque motors, my dynamicl modele of the robot needs the two torques Tr and Tl.
i started with trajectory planning to do an [xd-x;yd-y;thera_d-theta] and multiplicate it by the matrix of rotation but then i don't know how to get the velocity from the errors.
and the torques after from the velocities ( angular and linear).
i'm working with simulink.
Thank you