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[DPRG] Borenstein squares
Subject: [DPRG] Borenstein squares
From: Dave Hylands
dhylands at gmail.com
Date: Tue May 20 22:32:51 CDT 2008
Hi Randy,
Meant to use Reply-to-all.
> What we've been finding on our new platform is that small turns
> odometry works reasonably well, but on large turns, like 90
> degree turns, we get different numbers each time we turn.
So is this doing an in-place turn? i.e. one wheel going forwards while
the other goes backwards? Or are both wheels going forward differing
amounts?
> Could be our drive train is slipping. Maybe. Not likely.
If one wheel is going backwards, then you could be suffering from backlash.
> Could be the omni wheel is dragging and giving bad interference.
> Quite possible, but not sure how to isolate.
Differential steering will most likely put some sideways pressure on
the wheels. If you're using omni wheels then you could be getting some
sideways movement, which your odometry doesn't account for.
--
Dave Hylands
Vancouver, BC, Canada
http://www.DaveHylands.com/
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