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Unread 02-06-2015, 14:39
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Re: Swerve with a twist

Quote:
Originally Posted by Ether View Post
"gradually mixing" and "instantly" seem like odd bedfellows in the same sentence.
The motion in the desired direction can begin instantly. However, after the steering has rotated a bit, the lateral motion of rotation changes and "gradual mixing" of driving motion with the steering motion is required.

Quote:
Originally Posted by Ether View Post
Suppose I am driving your caster vehicle directly forward and I want to "instantly" go sideways? How is your caster vehicle superior to a properly designed and coded swerve?
Apparently less than 1/4 second. A swerve drive with no trail must first be steered to the proper direction before applying drive to achieve motion only in the desired direction. With trail (offset between the two axes), the steering motion itself begins the motion in the desired direction (along the drive wheel axis).

This is not a meaning of holonomic I have seen before - I suppose it would have to be "having the ability to immediately move in an arbitrary direction while in any arbitrary state"
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