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By: Ian Mackenzie
New: 05-02-2006 10:11 PM
Updated: 02-21-2010 11:43 AM
Total downloads: 1043 times
Describes the kinematics (mathematics of motion) behind swerve, holonomic (omniwheel) and mecanum drives.
UPDATED 2010-02-21: Clarify orientation of mecanum wheels.
This was a presentation given at the FIRST Robotics Conference in 2006. Here's the abstract I wrote for it:
This presentation will weigh the advantages and disadvantages of omni-directional drive systems compared to traditional tank drive robots, and what sort of games or strategies might lead a team to pick one over the other. Various issues will be discussed, such as omni wheels vs. steered gearboxes, concentric drive, and independent vs. linked steering. Most importantly, the kinematics (mathematical theory) of omni-directional drive will be described, as well as how that can be used to design and program the control system. Examples will be used from robots with omni-directional drive all the way from 1998 up to the present.
Attached Files
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Omnidirectional Drive Systems
omnidirectional.pdf
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uploaded: 02-21-2010 11:42 AM
filetype: pdf
filesize: 1.88MB
downloads: 1041
Discussion
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05-16-2006 10:30 PM
Bill_Hancoc
Re: paper: Omnidirectional Drive Systems
Very well written and informative...the drawings took me a second to understand since i thought i was looking at something else but once i realized what i was looking at it made sense...good job
05-28-2006 02:22 PM
Qbranch
Re: paper: Omnidirectional Drive Systems
now if microprocessors would just have a trig table.................. 
yea yea i know i can make my own, just don't want to type it all in. I'll do it eventually...
-Q
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