Extending the identification for mobile robots

kjyv / FloBaRoID

Framework for dynamical system identification of floating-base rigid body tree structures

GNU Lesser General Public License v3.0

62 stars 26 forks source link

Extending the identification for mobile robots #9

Closed padhupradheep closed 5 years ago

padhupradheep commented 5 years ago

Hey,

Is it possible to use your tool for a holonomic mobile robot?

kjyv commented 5 years ago

I guess it depends on the robot, but there should be no general reason against holonomic systems. I think the floating base identification theory was not conceived for e.g. wheels. A mobile snake-like system with six joints should work fine if you can measure all the contact forces.

kjyv commented 5 years ago

Please read up on the theory (papers for the methods are mentioned, most robotics text books will also have the basics), the software is not of much use without that knowledge anyway. I haven't looked into identification of wheeled robots and I can just guess from what I've seen. I won't say it's impossible but the equations might need some changes or different constraints need to be applied.