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Unread 23-05-2012, 16:31
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Ether Ether is offline
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Re: The physics of pushing

Quote:
Originally Posted by Ken Streeter View Post
Oops! I actually liked where you had it the first time -- changing the diagram has now gone and made my earlier post invalid -- oh well!
Ah, I didn't consider that. I re-attached the original diagram to provide context for your post.

Quote:
What I think I was probably missing in my calculation from the earlier diagram and might have been why you had included "tau" in the equations was considering the rotational torque of the wheels on the floor. Is that it?
Yes, the rotational reaction torque on the robot due to the torque on the wheels.

Quote:
In that case, though, it would be necessary to consider the radius of the wheels (which is not necessarily the same as "h").
Yes. I think you posted this while I was busy wordsmithing my previous post It now explains the role of "r", the wheel radius.



Last edited by Ether : 23-05-2012 at 18:24.