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Originally Posted by robotaddict
You can see my dillema, especially after you add the z axis, though it should be a good deal simpler... PLEASE ADVISE!  |
Here's the equations for a three wheel holonomic base. Since you're using 4 wheels that are aligned on primary axises, you should be able to simplify it somewhat.
I tried simulating a 3 wheel holonomic base, and it was virtually (no pun intended) uncontrollable without some sort of PID. I guess 4 wheels shouldn't be quite as bad though.