Quote:
Originally Posted by compwiztobe
When calculating the omega cross r term yes (for a unicorn drive, in which case you're already doing that math anyway, you just need to plug in a different r vector for wheel position), but for standard crab, you can drive in a straight line in any direction with all four motors at full speed with the wheels in the orientation I described. I haven't rigorously proven it, but my own intuition regarding the torque exerted by each wheel, it shouldn't be an issue.
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What this means is that you can drive all wheels from a central "powerbox" in any direction on a crab drive without necessarily having a rotationally symmetric wheel base. You just have to make sure there is no net torque.