So I will put up from where I left last time. I was working on four wheel omnidrive robot till my teammates worked on fabricating the three wheel chassis. Finally it was completed last week and we have started shifting the driving from four wheel to three wheel.
Probably, shifting the electronics and control system might only round up to changing the equations that correlate the individual RPMs and linear and angular velocity of robot. I found a really good paper work on it which can be found here.
Today we completed rewiring the triwheel chassis and managed to test all motors. Successfully tuned two of the motors but couldn't tune the third due to mechanical malfunctioning observed in it. The following are the videos of the P-regulator responses by each wheel, Used Tiva TM4C123 Launchpad. Due to lack of resources, we could accomplish only this much today.
Probably, shifting the electronics and control system might only round up to changing the equations that correlate the individual RPMs and linear and angular velocity of robot. I found a really good paper work on it which can be found here.
Today we completed rewiring the triwheel chassis and managed to test all motors. Successfully tuned two of the motors but couldn't tune the third due to mechanical malfunctioning observed in it. The following are the videos of the P-regulator responses by each wheel, Used Tiva TM4C123 Launchpad. Due to lack of resources, we could accomplish only this much today.
The next steps will probably be to arrange the resources as soon as possible and make the changes in the equation and start trying out a no heading feedback system ASAP to compare triwheel and four wheel and solve actuator problems.
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