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formula for directional and angular velocity (tri-wheeled omnidirectional ) Robot

asked 2020-07-24 16:10:55 -0500

chm007
34 ●13 ●22 ●26

Good Afternoon All,

Any Ideas on the formula for calculating directional and angular velocity (tri-wheeled omnidirectional ) robot? I need it to publish direction and velocity of my custom robot.

I know the formula for a two wheel is (Dir_Right + D_left)/2) for dir velocity and angular vol is (Dir_Right - D_left)/wheelbase). But I actually need this for my omni-directional tri-wheel. Any advice?

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Asked: 2020-07-24 16:10:55 -0500

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Last updated: Jul 24 '20

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formula for directional and angular velocity (tri-wheeled omnidirectional ) Robot