Quote:
Originally Posted by EthanMiller
We ordered another wheel (which hasn't arrived yet) and built a frame for kiwi drive that places them 2π/3 (120 deg) around a circle, tangent to the circle. Each wheel will be directly driven by a motor with an encoder.
Every place I've seen Kiwi drive, the 'front' has been located directly between two wheels, that powering them towards each other at the same speed would be forward. Would having the forward be directly opposite that be a problem? (Such that two wheels powered away from each other was forward)
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That should work fine. If you're interested,
here's a graphic showing the inverse kinematics for the three-omniwheel vehicle you described. Scroll to the bottom and grab file "Kiwi Omniwheel Inverse Kinematics"