Quote:
Originally Posted by autox_vette
I have to ask then, what is the difficult part?
Kenton
|
In your original post, you stated that you wanted to program a swerve drive that is
"fully functional (i.e. simultaneous translate and rotate)". How to
compute the necessary speed and steering angle of each of the four wheels at each moment in time for any desired vehicle motion (inverse kinematics) is straightforward and has been explained here on CD in papers and posts. The difficult part is what you then
do with those computed values to get a vehicle that drives smoothly, safely, responsively, and predictably.
Read the last 2 paragraphs on Page2 of the paper
2011-03-28 Calculate Swerve Wheel Speeds and Steering angles.pdf
located
here.