Wikipedia actually has a pretty good definition of
holonomic as the term applies to robots:
Quote:
|
Originally Posted by Wikipedia
In robotics holonomicity refers to the relationship between the controllable and total degrees of freedom of a given robot (or part thereof). If the controllable degrees of freedom is equal to the total degrees of freedom then the robot is said to be holonomic.
|
So a robot drivetrain that is truly holonomic as defined above would have three degrees of freedom; i.e., three independently controllable wheels not directed along the same axis. A robot drivetrain with four omniwheels arranged on the corners is actually
redundant, but with relatively simple math can be made to function like one that is holonomic. The same statement applies to a robot drivetrain with four mecanum wheels.
__________________
Richard Wallace
Mentor since 2011 for FRC 3620 Average Joes (St. Joseph, Michigan)
Mentor 2002-10 for FRC 931 Perpetual Chaos (St. Louis, Missouri)
since 2003
I believe in intuition and inspiration. Imagination is more important than knowledge. For knowledge is limited, whereas imagination embraces the entire world, stimulating progress, giving birth to evolution. It is, strictly speaking, a real factor in scientific research.
(Cosmic Religion : With Other Opinions and Aphorisms (1931) by Albert Einstein, p. 97)