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Unread 20-03-2010, 13:46
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Jared Russell Jared Russell is offline
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FRC #0254 (The Cheesy Poofs), FRC #0341 (Miss Daisy)
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Re: fine control of robot with mecanum wheels

Quote:
Originally Posted by Bill_B View Post
Can you adjust each motor's signal based on the ratio of normal forces? That is, if you know the percentages of robot weight borne by each of the corners, can you compensate for that by varying the command to each? This might also be useful for bump-climbing when the weight distribution on even a perfectly centered CG 'bot gets totally skewed.
This would work in principle, but because of the dynamics of how a robot moves (e.g. the weight gets shifted towards the rear wheels when accelerating), you would need a very fast strain gauge or other type of force sensor to detect how these quantities vary over time. I'm not sure how much this would help in practice.