cob_undercarriage_ctrl Documentation


cob_undercarriage_ctrl implements a controller for the omnidirectional base of Care-O-bot 3 on joint level. For a given Pltf-Twist the according wheel steering angles and linear wheel velocities are calculated based on the principle of rigid body motion. Each joint is than controlled individually to achieve the computed position and velocity

Todo list


Author(s): Christian Connette
autogenerated on Thu Aug 27 2015 12:45:53