Quote:
Originally Posted by dellagd
Ive also been curious about 'perfecting' a mecanum drive system by taking the load on each wheel and programming the drive to account for the uneven loading.
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Varying the normal force "load" on each wheel has two primary effects. One is a subtle change in the wheel speed vs motor voltage. That can be compensated for using closed-loop control of wheel speed. The other is a significant change in the maximum thrust that the wheel can apply before slipping. That one is not so easy to account for, though I suspect monitoring the motor current can provide a way to do traction control and turn the wheel slip problem into a maximum robot acceleration problem.