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Unread 03-05-2012, 08:22
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Ether Ether is offline
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Re: Programming swerve drive in Labview?

Quote:
Originally Posted by autox_vette View Post
I have to ask then, what is the difficult part?

Kenton
In your original post, you stated that you wanted to program a swerve drive that is "fully functional (i.e. simultaneous translate and rotate)". How to compute the necessary speed and steering angle of each of the four wheels at each moment in time for any desired vehicle motion (inverse kinematics) is straightforward and has been explained here on CD in papers and posts. The difficult part is what you then do with those computed values to get a vehicle that drives smoothly, safely, responsively, and predictably.

Read the last 2 paragraphs on Page2 of the paper
2011-03-28 Calculate Swerve Wheel Speeds and Steering angles.pdf
located here.



 


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