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<div class="moz-cite-prefix">On 20/02/13 13:03, Jon Stephan wrote:<br>
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cite="mid:CAPPsEkfe7U1onx1oUau4cNHRMn_S7Hn9RV+Xn-qMyTjbDgSr1A@mail.gmail.com"
type="cite">
<div dir="ltr">Ah, I hadn't thought about using stepper motors
(I've never looked into how difficult the control would be).
Would this package be of any use to you? I would assume you
could kludge it to work, but I don't know if it really helps.</div>
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<br>
Without encoders it would be a nightmare to simulate their value
from the odometry we generate...<br>
I don't envision rewriting the low-level code anytime soon.<br>
<br>
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cite="mid:CAPPsEkfe7U1onx1oUau4cNHRMn_S7Hn9RV+Xn-qMyTjbDgSr1A@mail.gmail.com"
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<div style="">I will have to think about the holonomic
controller. (I don't have access to that paper here, I'll get
it later today) That will be difficult to debug because I
don't have a holonomic robot. But I suppose I could use the
holonomic controller on a non-holonomic robot, right?<br>
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<br>
Holonomic platforms are not very common [1][2].<br>
We don't have one. That'sjust why it may be convenient to simulate
one.<br>
Holonomic platforms are widely used in theoretical works to simulate
functions and theorems, thus to back your simulation with
experimental results, you need to have your control law command real
(non-holonomic) robots.<br>
Hence a holonomic control for nonholonomic robots as I wrote it in
my previous email.<br>
<br>
BR<br>
<br>
<br>
[1]
<a class="moz-txt-link-freetext" href="http://www.oemoffhighway.com/article/10632736/movement-without-limits">http://www.oemoffhighway.com/article/10632736/movement-without-limits</a><br>
[2] <a class="moz-txt-link-freetext" href="https://encrypted.google.com/search?q=wowwee+tribot&tbm=isch">https://encrypted.google.com/search?q=wowwee+tribot&tbm=isch</a><br>
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