Quote:
Originally Posted by Ether
Any desired motion of the vehicle, including making the vehicle revolve around an arbitrary external point while simultaneously rotating about its own center of geometry, can be commanded by specifying the (time varying) values of the above mentioned 3 degrees of freedom.
One example is given here, which shows how to convert an Ackermann steering command into the 3 degrees of freedom |
Just posted 3 more examples
here (
scroll to the bottom of the list of attachments).