Thread created automatically to discuss a document in CD-Media.
4 wheel independent drive & independent steering (“swerve”)
calculate robot-centric and field-centric wheel speeds and wheel steering angles for a vehicle with four-wheel independent drive and independent steering (“swerve” drive)
UPDATED FILES ARE AT THE BOTTOM, SO SCROLL ALL THE WAY DOWN
Derivation of inverse kinematic equations for three-degree-of-freedom (3 DoF) control for 4-wheel independent steering and independently driven swerve.
Equations and pseudo-code for above.
Convert Ackermann commands to 3 DoF control.
Convert Cartesian coordinates to 0 to 360 degrees, CW or CCW, from +/- X or Y axis, or from an arbitrary Initial Ray. See Errata note below
Inverse kinematics Excel spreadsheet with graphical display to test and display swerve wheel speed and steering angle calculations.
Forward kinematics calculator implemented in Maxima.
Inverse Kinematics for swerve with 3 or more wheels. The wheels can be located anywhere on the robot; they don’t have to be at the corners of a rectangle.
There is a typo on Page 2 of document convert_XY_degrees RevE.PDF: The equation should read theta -= 360*floor(0.5+theta/360)
Derivation of Inverse Kinematics for Swerve.pdf (48.1 KB)
Calculate Swerve Wheel Speeds and Steering angles.pdf (15.3 KB)
Ackermann7a.pdf (49.2 KB)
swerve_tester_6.xls (27.5 KB)
convert_XY_degrees revE.pdf (25.3 KB)
swerve_tester_8.xls (28 KB)
swerveForwardKinematics.zip (16.3 KB)
CWYdeg.pdf (9.32 KB)
Cartesian2angle.zip (6.6 KB)
moon.pdf (25.6 KB)
rotary.pdf (25 KB)
dosado.pdf (25.6 KB)
swerveN.pdf (60.2 KB)
convert_XY_degrees revF.pdf (36.9 KB)