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Unread 08-01-2009, 13:03
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Re: Implementing Traction Control for an advantage in the 2009 game

With the recent allowing of idler wheels this will probably not be needed but my thought was to have a pivoting motor mount with a load cell under one of the mounts, thus you could sense the torque applied to the motor shaft. you should be able to calculate, and after it is done test to find your maximum torque that can be applied before slippage occurs, then write your software to drive the motor to this condition. In this case, if you diden't use speed input (would be a good idea to do so) your joystick would become not a speed input, but a torque input, or just like the accelerator pedal in your car!

But the sensor wheel will most likely give you 95% of the benefit that you are looking for anyway, but I like to throw my ideas out there and see if anyone bites.
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Justin Stiltner
Lead Robot Inspector, VCU Regional
Unmanned Systems Lab, Virginia Tech
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