Convert Twist to joint velocity

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mrshifo
Posts: 19
Joined: 30 Dec 2013, 12:40

Convert Twist to joint velocity

Post by mrshifo » 05 Mar 2014, 14:26

Hi all,

What is the best way to convert a twist (vx,vy,w respect to base frame) to joint velocity of the wheels ? Refer to envirornmentMapping.ttt, I want to drive the tracks exactly specifying vx, vy, w so to do this you need to convert the speed in speed of the wheels.

Thanks for the help!

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