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Physics of SPHERES

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Page 1: Physics of SPHERESstatic.zerorobotics.mit.edu/docs/tutorials/IntroToPhysics.pdfPhysics’and’Zero’Robo5cs’ • To’compete’successfully’in’Zero’Robo5cs,’you’ will’need’to’putyour’knowledge’of’physics’to’

Physics of SPHERES

Page 2: Physics of SPHERESstatic.zerorobotics.mit.edu/docs/tutorials/IntroToPhysics.pdfPhysics’and’Zero’Robo5cs’ • To’compete’successfully’in’Zero’Robo5cs,’you’ will’need’to’putyour’knowledge’of’physics’to’

Physics and Zero Robo5cs

•  To compete successfully in Zero Robo5cs, you will need to put your knowledge of physics to use, especially dynamics (the study of mo5on and changes in mo5on.)

•  If you haven’t yet taken a physics course in school, don’t worry. These tutorials will guide you, and you will learn along the way as the compe55on progresses.

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Page 3: Physics of SPHERESstatic.zerorobotics.mit.edu/docs/tutorials/IntroToPhysics.pdfPhysics’and’Zero’Robo5cs’ • To’compete’successfully’in’Zero’Robo5cs,’you’ will’need’to’putyour’knowledge’of’physics’to’

Physics in Space •  When programming your SPHERES, you do not have to worry about forces like fric5on and air resistance in the simula5on.

•  Even in the 2-‐D phase of the compe55on, it is as if the SPHERES are in zero gravity but can only move in one plane.

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Page 4: Physics of SPHERESstatic.zerorobotics.mit.edu/docs/tutorials/IntroToPhysics.pdfPhysics’and’Zero’Robo5cs’ • To’compete’successfully’in’Zero’Robo5cs,’you’ will’need’to’putyour’knowledge’of’physics’to’

Weightlessness

•  Weight is the force with which gravity pulls on an object. It varies depending on the object’s loca5on in the universe.

•  For all prac5cal purposes, the SPHERES are weightless on board the Interna5onal Space Sta5on. You will program your satellites to move weightlessly in space.

•  However, no weight does not mean no mass. Mass is the amount of maPer in an object, and is constant everywhere in the universe.

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Page 5: Physics of SPHERESstatic.zerorobotics.mit.edu/docs/tutorials/IntroToPhysics.pdfPhysics’and’Zero’Robo5cs’ • To’compete’successfully’in’Zero’Robo5cs,’you’ will’need’to’putyour’knowledge’of’physics’to’

Rigid Bodies

•  When your satellite moves, all parts of the satellite are moving together. The satellite does not change shape, so it is called a rigid body.

•  Although each satellite occupies a space larger than one point and has considerable volume, we will consider the posi5on of the satellite to be the point at which its center is located.

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Page 6: Physics of SPHERESstatic.zerorobotics.mit.edu/docs/tutorials/IntroToPhysics.pdfPhysics’and’Zero’Robo5cs’ • To’compete’successfully’in’Zero’Robo5cs,’you’ will’need’to’putyour’knowledge’of’physics’to’

Transla5on and Rota5on

•  Transla4on and rota4on are the two essen5al types of mo5on. Both are crucially important to controlling your satellite.

•  Transla5on is change in posi5on (forward, sideways, up, down, etc).

•  Rota5on is movement about an axis or a fixed point.

•  A6tude, or orienta5on, describes how much an object has rotated from its original posi5on.

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Page 7: Physics of SPHERESstatic.zerorobotics.mit.edu/docs/tutorials/IntroToPhysics.pdfPhysics’and’Zero’Robo5cs’ • To’compete’successfully’in’Zero’Robo5cs,’you’ will’need’to’putyour’knowledge’of’physics’to’

Transla5on and Rota5on

Original Transla5on Rota5on Both

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