paper: High Speed Optimization Technique
 

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High Speed Optimization Technique by kramarczyk

Re: paper: High Speed Optimization Technique
 

This seems to be a valuable spreadsheet for understanding movement mechanics. Thanks for sharing.

I think I did notice an error in it:
In the "AndyMark 2-speed modeling sheet" in the low-gear data: AC140 to AC590 (Robot acceleration) improperly uses that maximum acceleration data (AA column) instead of the actual acceleration data (AB column).
(the same error is in the high gear data, but high gear does not make a difference unless you use very slippery tires).

The end result is that the low gear will seem a little bit faster especially at short distances than it actually is if you try to use it with 4 CIMs instead of 2 CIMs.
Has anyone ever tried to match this simulator to actual data from live robots?