Quote:
Originally Posted by Mike Betts
forward kinematics ... yields a unique result.
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In the case of the velocity kinematics of the mecanum vehicle, it is the inverse kinematic transformation (from desired vehicle motion to required wheel speeds to achieve that motion) which has a unique result.
The forward kinematic transformation for a mecanum vehicle (from four arbitrary wheel speeds to the vehicle motion which would result from those wheel speeds) in general has no exact solution, but you can calculate a "least squares fit" to find the "best" approximate solution. This is discussed in
this paper.