Quote:
Originally Posted by ekapalka
What I was wondering is how to control the center wheels so as to not conflict with the mecanum wheels while still providing pushing power.
|
You could do it with independent drive of all 6 wheels (i.e. 6 drive motors, one for each wheel). Control the mec wheel speeds as you normally would (i.e. based on standard mec inverse kinematics), and control the omni wheel speeds based on inverse kinematics of the FWD and ROT command components.
I doubt whether this will provide much (or even any) benefit compared to standard 4-wheel mec though.