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 Hmmm, the Michelangelo method of robot building. Just cut away anything that doesn't look like a robot. - GaryVoshol [more] |
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| Hmmm, the Michelangelo method of robot building. Just cut away anything that doesn't look like a robot. - GaryVoshol [more] |
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#4
02-05-2010, 22:03
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Re: potential future white paper: swerve drive implementation
Team 1640 did swerve for the first time this year. As part of our off season design project several papers were developed. Mostly the math. You may want to look at them.
This is the first paper after the summer work. http://wiki.team1640.com/images/8/85...heel_Drive.pdf This is a paper commenting on the summer project. http://wiki.team1640.com/images/6/60...rive_Robot.pdf This is the final paper commenting on crab with orientation control. Mode1 in the paper was implemented on the 2010 robot. Mode 2 is tough because it requires tracking states and would require some feed forward algorithms. http://wiki.team1640.com/images/3/3a...Twist_edit.pdf Browse our website for the mechanical implementation. Comments and comparisons to your work are welcome. |
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