Quote:
Originally Posted by Caleb O
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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:
S
1 = STR + |y
1|*Ω
S
2 = FWD + |x
2|*Ω
S
3 = STR - |y
3|*Ω
S
4 = FWD - |x
4|*Ω
...where:
S
n 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 (S
n, x
n, y
n, FWD, STR) must use the same dimensions (e.g feet, inches, meters, etc) for the linear part