Thread: Field-Oriented Mecanum Drive
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Unread 15-01-2008, 08:51
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Field-Oriented Mecanum Drive
An interesting idea I had:

http://web.mit.edu/first/www/semiOLcontrol.pdf

Should give a non-drifting absolute heading. The trig for rotating frame of reference is done off-board to save processor time, sent as analog signals of the sin and cos. This way, all the math done on the RC is straight multiplication.

It looks closed-loop, but it's actually more of an open-loop controller, in that you still trust the Mecanum algorithm to do what it is supposed to do. So, proper weight balance and such still important. The only direct feedback is to cancel out undesired rotation, which seems to be the biggest problem with Mecanum drive.

Feasible? I know I've seen field-oriented drive before. Any tips? Anyone tried something similar with success?
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