Quote:
Originally Posted by Ether
What do you need a Jacobian for?? Inverse kinematics for mecanum is a straightforward calculation.
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I am using velocity control, not position. So, Jacobian it is..
Quote:
Originally Posted by Orion.DeYoe
It really sounds like your motors aren't geared low enough (i.e. you don't have enough torque). It was too fast and we couldn't straif unless we were running close to full power.
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Well, my controller does not require the maximum current. The current sent to motors are pretty low. So, I guess it can't be enough torque, no?
The wheels are fine when they're not in contact with ground. (Much faster but fine) When contacted with ground; it can go sideways (two wheels go inward two go outward) but during the motion; it starts chattering which cause vibration.