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Originally Posted by bheller
Team 931 used them for the first time this year. We wanted a robot design that was longer than it was wide, for stability with a long arm, and knew that our robot would not turn well with four standard wheels. There are two omnis on the front and two pneumatics on the back.
When we switched to the omnis, it turned too well. Think about it - omnis act as casters when the robot turns. The operator would push the stick to turn and the robot would turn, but it would keep turning when the operator moved the stick back to neutral! The polar moment of inertia kept us going. If you want to go with omnis, I recommend one of three things:
-holonomic drive
-exponential stick control for better turning sensitivity at low speeds
-(best option in my mind) a gyro to counteract the overshoot
I'm trying to get a white paper out on these wheels by midsummer.
Brandon Heller
Mentor Team 931
Alum Team 449
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Yeah...you were one of the teams I saw that got me thinking about the omni wheels. We were in the pits right next to you at the MWR...and someone showed them to me.