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Originally Posted by James Critchley
In forward kinematics it is NOT that there is no UNIQUE solution to this problem. It is that is NO solution in general. The kinematic constraints are violated in your "solution", so by definition it is NOT a solution.
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In the literature it is referred to as a
least-squares solution.
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dynamic models of tires don't usually apply a stick-slip intermittent "constraint". It is done with applied forces. Sorry no link, you'll have to do a bit of research for that one.
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I did high-performance antilock brake systems for aircraft in a previous life. I am familiar with tire models.
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The inverse kinematics determines ideal control set points. Your forward kinematics is suggested to verify performance of actual output
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Let me take one last crack at this: To the extent that correctly-computed IK wheel speeds and angles actually produce the vehicle motion that the driver commanded, FK applied to those same wheel speeds and angles will predict vehicle motion. This is tautological. The FK was presented for its mathematical interest, and for possible use to verify the outputs of IK code.
Dynamically modeling the vehicle's response is a separate endeavor. I don't discourage you from doing this. I hope you take the time to publish a detailed paper for the benefit of all here.