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Unread 05-02-2013, 19:48
minee_5 minee_5 is offline
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Re: Problem with mecanum wheels

Quote:
Originally Posted by Ether View Post
If you know the desired translational and rotational velocity of the vehicle, calculating the required wheel speeds to achieve that does not require a Jacobian. So you've got me curious... what exactly are you doing?


Well, my reference to the robot is in Cartesian space. I want to know where the robot goes, I won't be interested in how fast the wheels are turning eventually. For further control algorithms (such as admittance, etc.), I want to use velocity control instead of position. Kinematics also work, you're right but Jacobian for such device is much simpler for this system, no?