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Unread 26-01-2011, 14:04
AustinSchuh AustinSchuh is offline
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Re: PID Loop Question

Quote:
Originally Posted by Ether View Post
I'll take a crack at answering my own question.

If the center of mass is not equidistant from all four wheels, then during conditions of acceleration the wheel(s) to which the CoM is closest will see a greater effective inertia. If there is no (or minimal) acceleration, the only effect would be an increase in rolling resistance which may or may not be significant depending on the flooring material and the wheels.
Sounds like a nice explanation. In addition, if you are at the traction limit, the wheels with more normal force on them will be able to contribute more to the acceleration of the robot, and should have a more aggressive controller to do that.
 


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