Quote:
Originally Posted by RyanCahoon
The point being, any normal force used to creating friction between the instrumentation wheel and the ground is normal force that's not able to be used to create friction between the drive wheels and the ground.
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Yup. Making this decision might involve comparing the control advantge to be gained by implementing a good traction control algorithm, vs. the loss in tractive force by putting a small part of the robot's weight on the unpowered sensor wheels.