apply the inverse kinematic tranformation?

[Ether]

Originally Posted by kinganu123

so ive been tryna figure out my own mecanum drive algorithim and i searched a few threads for hints and I noticed that people have mentioned applying the inverse kinematic transformation when you have the x, y, and twist values to get the individual motor speeds. I was wondering what on earth is the inverse kinematic transformation

It's exactly what you just said. It's the calculation that takes you from joystick inputs to wheel speed outputs.

More precisely, it's the operation which transforms the 3 vehicle motion commands: translation (forward/reverse and strafe right/left) and rotation (rotate clockwise/counterclockwise), into 4 wheel speed commands.

It would be appreciated the chief delphi community could explain this without giving me the actual algorithims for each wheel speed in mecanum drive

I'm not sure how much latitude that leaves for explaining. This paper gives the mathematical derivation of the inverse kinematic transformation in detail for a 4-wheel mecanum vehicle, but may be more detail than you are looking for.

and how i would use it to figure out each individual motor speed from these.

Using it is very straightforward. This paper explains how to do the calculations, but it sounds like that's not what you want.

Your post sounds like you were given an assignment. Give us more guidance what we are and aren't allowed to tell you... or perhaps try asking some more-focused questions.