Mechanics and Construction > Mechanics and Construction
Wheels - holonomic vs. non-holonomic
(1/1)
stopgo:
I'm considering building a robot similar to Taurus 2. I'm wondering about some of the disadvantages of holonomic robots. It looks like using a holonomic system will create a bit more computational overhead, but not too much. Localization will be very important to me - will a setup such as Taurus 2's significantly degrade my ability to do accurate dead reckoning? Taurus 2 uses 8 identical servos. If I should upgrade my 4 wheel motors later, I could probably get away with using weaker motors for the 4 'swivel' motors, right?
Lastly, I'm making a 4-wheeled robot. If I decide to just do differential drive, how would I go about attaching my 2 motorless wheels?
Admin:
A lot of your questions can be answered here:
http://www.societyofrobots.com/robot_omni_wheel.shtml
(its not the Taurus 2 design, but still covers the same concepts you asked about)
--- Quote ---Lastly, I'm making a 4-wheeled robot. If I decide to just do differential drive, how would I go about attaching my 2 motorless wheels?
--- End quote ---
Will your two motorless wheels have just one motor or none at all? Might be better to just use a castor instead of having 2 useless wheels dragging?
Sorta like this (my 2nd robot ever):
stopgo:
Thanks, I agree. I went with a ball castor.
JesseWelling:
You will also get better odometry out of a 2 wheel differential drive with caster instead of a 4 wheel differential. Good Odometry will of course help you in localization.
Navigation
[0] Message Index
Go to full version