Encoders and Mecanum Drive

[vhcook]

With mechanum, you will need encoders on all four wheels to get an accurate position reference, and you'll have to correct for wheel diameter and the vector of the force applied by the angled rollers. I have some detailed notes from our development this season, and I'll see if I can put together a white paper over the next couple of weeks. There is a bit of slip because of the rollers, but you can get reasonably accurate readings.

[Ether]

Originally Posted by vhcook

I have some detailed notes from our development this season, and I'll see if I can put together a white paper over the next couple of weeks.

You might find the following CD papers useful as you are preparing your notes:

http://www.chiefdelphi.com/media/papers/1836

http://www.chiefdelphi.com/media/papers/2390

http://www.chiefdelphi.com/media/papers/2434

With mechanum ... you'll have to correct for ... the vector of the force applied by the angled rollers.

The inverse kinematic calculation of the wheel speeds takes care of that.

[vhcook]

Originally Posted by Ether

You might find the following CD papers useful as you are preparing your notes:

Thanks! That will definitely help.