Quote:
Originally Posted by dellagd
Has anyone ever done a write up on the reverse kinematics with uneven loading or even written some code to deal with it? This seems like something Ether would have addressed in the past, but I can't find anything for it.
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assuming each wheel is being driven at the kinematically correct speed, any deviation from the kinematically predicted behavior, due to uneven loading, would mean that the bot is no longer behaving "holonomically" -- there is wheel scrub -- and this would require an analysis of the forces involved.