# turning in circle by track robot

Hi everybody
I have this track robot , that have 2 stepepr motors (1.8 deg , 0.3 N.m , 1A ) and gears . stepper motors (in middle of track robot) are connected to gears , and end of gear is connected to track.

I want to turning in circle for example ; 1 meter radius . I've read a lot of paper for calculating kinematic , but i can not turning in circle.

this is possible to turn the track robot in circle?

You can calculate the distance that the outer track and inner tracks have to travel. Convert that to steps and see how many more steps the outer track will need. Calculate how often the outer track will need an extra step.

To start with though, I'd just choose some arbitrary number of steps (100?) and then do an extra one on the outside. Repeat and see what size of circle you get.

wildbill:
To start with though, I'd just choose some arbitrary number of steps (100?) and then do an extra one on the outside. Repeat and see what size of circle you get.

Thank you Wildbill !
I did it. I got some values for radius & time in turning circle . but i can not find any formula between them.

speed v1 speed v2 radius(cm) time(second)
0.0110987 0.0078772 82 442
0.0147076 0.0105088 85.5 346
0.0147076 0.0086037 60 251