Subject:
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Re: odometry (was Re: Homing with the IR Tower)
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Newsgroups:
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lugnet.robotics
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Date:
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Wed, 28 Jul 1999 12:27:56 GMT
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Viewed:
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1018 times
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In lugnet.robotics, lego-robotics@crynwr.com (Laurentino Martins) writes:
> I've used 2 wheels instead of tracks once, and the results where terrible
> compared with tracks.
> The problem was that the wheels that come with the CyberMaster set are very
> deep like the F1 car wheels (they are the only ones I have). When doing tight
> turns they show a god mount of slippage.
> But the worst problem was that the third wheel was a free wheel.
> I would never guessed that, but it turned out that the "free wheel" is bad
> because it makes the whole vehicle very inaccurate.
> The simple motion stopping the vehicle and reversing the engines, make the
> "free" wheel turn 180 degrees and because it's axis is off-center, it forced
> the vehicle slight changes of direction.
> It was not good at anything, not even for straight paths because slight
> oscillations in the free wheel direction had a great impact on the direction
> of the vehicle.
I see your point. Yes, F1 kind wheels are far from ideal to avoid slippage and
get accurate results. The larger but thinner spoked wheels that come with the
Minstorm RIS are quite better.
The free wheel(s) also must be light and thin and rotate very freely. In my
S10 differential drive platform I kept all the weight well balanced over the
two main wheels, with two back and front free wheels loaded with minimum
weight. Those free wheels were actually small pulleys (the kind with 6 holes
around) with the proper thin rubber tire on.
Mario
http://www.geocities.com/~marioferrari
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Message is in Reply To:
 | | Re: odometry (was Re: Homing with the IR Tower)
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| At 09:20 28-07-1999 Wednesday , Mario Ferrari wrote: [snip] (...) I've downloaded, printed and read it all some time ago :-) (...) I've used 2 wheels instead of tracks once, and the results where terrible compared with tracks. The problem was that (...) (25 years ago, 28-Jul-99, to lugnet.robotics)
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