|
Re: Which shaft encoder to use?
[quote=Jeff Waegelin]I'm currently designing a holonomic drive system, and I want to use shaft encoders to measure wheel speeds.QUOTE]
One remark if I may; we did a holonomic drive this year and there was so much slip in the wheel to the surface that indexing the drive motors wasn't going to be useful. This was because all of the wheels were running in crab and any little imperfection in the drive surface would make the wheels skip. Anyway the solution was to lock all four motors into a loop using a yaw sensor, after which we didn't care about the individual speed of each motor. The downside is there is enough slip in the absolute direction gained from integrating the yaw sensor that we couldn't keep the field oriented steering, maybe we can solve that for next year.
|