Quote:
Originally Posted by JVN
Is that a function of the software more than the mechanical system?
Am I missing something Chris?
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Yes - but that's not your fault. I was a little vague, probably because I was distracted while writing that post. My point was that there is an optimal amount of scrub (not just less scrub is better).
From a mechanical standpoint, the overshoot is a function of moment of intertia, top turning speed, and friction. You can make a drivetrain with a large moment of inertia, 2 rough top wheels on one end, and two casters on the other. Good luck driving that (my team made one of those a LONG time ago and decided that it was almost undrivable). Our 2010 robot with 2 omni wheels on one end was on the border of being difficult to drive without software help.
Yes, it can be taken care of in software, but all of those reverse motor commands create a lot of heat and a lot of stress on a lot of parts. We've done software driving aids whenever needed, but I prefer to have a good mechanical pacakge that doesn't require any help (don't we all).
If you can make a nice, smooth turning robot without omnis or casters, it's a much easier drive system to control. Changing to omnis will make your robot VERY easy to turn, sometimes too easy. I find that the robots are easiest to drive with enough mechanical damping to keep overshoot less than 10 degrees or so.