apply the inverse kinematic tranformation?

[Ether]

Originally Posted by kinganu123

so ya i read that paper and, well lets just say I am absolutely clueless now. Maybe taking calc would help but I can't take that class till senior year and I'm only a sophmore. Unless one of you could pretty much explain the paper for someone my level?

You don't need to understand the derivation of the inverse kinematic equations in order to use them, any more than you have to be able to derive the Pythagorean Theorem or the Law of Cosines in order to use them.

The inverse kinematic equations are very simple:

FR = FWD - STR - ROT

FL = FWD + STR + ROT

RR = FWD + STR - ROT

RL = FWD - STR + ROT


... where FWD, STR, and ROT are the vehicle forward, strafe right, and rotate clockwise commands, respectively. These equations map your desired vehicle motion into a set of 4 wheel speeds required to achieve that motion.


You can setup your driver interface any way you want to map your joystick(s) axes to the FWD, STR, and ROT commands.