Quote:
Originally Posted by Jogo
Ether--
According to the inverse kinematics solution ( http://www.simbotics.org/files/first...irectional.pdf), The wheel speeds are also functions of the distance between the wheels and the center of the robot...the labview VI doesn't seem to account for this. Any suggestions? I'm assuming all the axis probably will need to be scaled anyway. |
You are correct, but the only degree of freedom that is affected by the wheelbase and trackwidth dimensions as far as the inverse kinematic calculation is concerned is the "rotate" command, and this can safely be tuned empirically to a suitable value (by multiplying the joystick rotate command by a scale factor, for example).
I posted a paper (see link below) which goes into more technical detail showing how the wheel positions affect the calculations, if you are interested. It even covers cases where the wheels are not located equidistant from the chosen centerpoint.
http://www.chiefdelphi.com/media/papers/download/2722
[edit] the above-referenced paper specifically deals with mecanum wheels, but the same principles can be used to analyze holonomic [/edit]