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Re: Killough platforms (A.K.A Holonomic/kiwi drive)
The way we controlled our Killough platform back in 2002 was a completely analog solution. We used three joysticks mounted in the same orientation as the drive wheels (120 degrees apart), mounted together using ball joints like so:
This was back in the PBASIC days. It may be low-tech, but it certainly worked: http://stuweb.ee.mtu.edu/~alkrajew/FIRST/kiwi.mpg
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"My favorite programming language is solder."
- R A Pease
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