From: Subramaniam I. <sv...@bu...> - 2007-06-29 21:06:15
|
hi I am subramaniam I am Working on Erratic a three wheeled robot platform. I need to control the left and right wheel speed independently can any one help me with the commands for the same. I have set the configuration file=20 direct_wheel_control 1 cheers subu |
From: Brian G. <br...@ge...> - 2007-07-09 16:51:46
|
On Jun 29, 2007, at 2:06 PM, Subramaniam Iyer wrote: > I am subramaniam I am Working on Erratic a three wheeled robot > platform. > I need to control the left and right wheel speed independently > can any one help me with the commands for the same. > I have set the configuration file If you know the axle length of the robot, then there is a simple geometric relationship between (translational velocity, rotational velocity) and (left wheel velocity, right wheel velocity). Compute the desired left and right wheel velocities, then transform them into translational and rotational velocities. brian. |