apply the inverse kinematic tranformation?

[kinganu123]

Originally Posted by Ether

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.




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.




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.

I assigned myself this and i dont want the actual end result is what I'm saying.I pretty much taught myself trig today so now I wanna code the mecanum wheels. thing is i have no clue how to do that so thats why this topic came up. Ill take a look at that paper and post again afterwards