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Unread 19-01-2017, 10:24
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Ether Ether is offline
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Re: command based, gyro, omnidrive

Quote:
Originally Posted by Caleb O View Post
it is kinda a custom drive train but it might work with the second one. sorry for the horrible drawing but that is what ms paint gives me: https://www.dropbox.com/s/lz4ow5kgpqaw9vv/omni.png?dl=0

Pick any point O, usually at or near the center of geometry of the wheel contact patches. That will be your center of rotation.


Then the inverse kinematics are given by:

S1 = STR + |y1|*Ω

S2 = FWD + |x2|*Ω

S3 = STR - |y3|*Ω

S4 = FWD - |x4|*Ω

...where:

Sn are the wheel speeds (linear speed at the wheel circumference)

FWD is the vehicle forward speed command

STR is the vehicle strafe right speed command

Ω is the vehicle rotate clockwise command in radians/sec about the point O


all variables (Sn, xn, yn, FWD, STR) must use the same dimensions (e.g feet, inches, meters, etc) for the linear part


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Last edited by Ether : 19-01-2017 at 11:37.
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