To save on motor cost and for power efficiency I went with a holonomic motor setup. Translation in X and Y and rotation about Z are possible with most land rovers. This can be accomplished with 3 motors if designed correctly but must use mecanum or omni wheels.
The inverse kinematics of a ball balancing robot are little different from a three omni wheel robot that does not ballance, equations for inverse kinematics are basically the same. This article provides a decent overview of those inverse kinematics .
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