View Single Post
  #32   Spotlight this post!  
Unread 21-12-2010, 21:43
Ether's Avatar
Ether Ether is offline
systems engineer (retired)
no team
 
Join Date: Nov 2009
Rookie Year: 1969
Location: US
Posts: 8,128
Ether has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond reputeEther has a reputation beyond repute
Re: Holonomic + gyro/PID

Quote:
Originally Posted by Jogo View Post
I'm curious as to the theory of how this is accomplished. For example, we've done the same thing without holonomic wheels (called it 'Vector Drive'). However, this was accomplished using "skid" (speeding up one side of the robot, slowing down another). Is there a different principle involved for holonomic?
A mecanum, or a full-swerve drive*, can rotate as it is translating. If you have field-oriented control, you can easily maintain a fixed heading as you rotate. The coordinate translation keeps the robot going in the same direction while it is rotating. It's a beautiful thing to see - looks like an ice-skater.

So, as the robot is heading toward the target, it simultaneously rotates until its yaw angle is aligned with the heading angle.




*i.e. 4 independently controlled wheels

Last edited by Ether : 21-12-2010 at 21:47.