03-01-2015, 17:00
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systems engineer (retired)
no team
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Join Date: Nov 2009
Rookie Year: 1969
Location: US
Posts: 8,071
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Re: Potential Omni Drive System
Quote:
Originally Posted by Jared Russell
Code:
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(all four wheels are omniwheels)
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Inverse kinematics:
Code:
S1 = STR + (L/2)*Omega
S2 = FWD + (W/2)*Omega
S3 = STR - (L/2)*Omega
S4 = FWD - (W/2)*Omega
... then normalize if any wheel exceeds max speed
L = wheelbase, ft
W = trackwidth, ft
FWD = forward, fps
STR = strafe right, fps
Omega = clockwise rotation rate around center, rad/sec
S1 front right wheel linear speed, fps
S2 front left wheel linear speed, fps
S3 rear left wheel linear speed, fps
S4 rear right wheel linear speed, fps
Last edited by Ether : 04-01-2015 at 11:26.
Reason: changed to engineering units for more general applicability
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