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From: nagle@netcom.com (John Nagle)
Subject: Re: Wheelchair Inverse Kinematics
Message-ID: <nagleCwnCyn.3rw@netcom.com>
Organization: NETCOM On-line Communication Services (408 261-4700 guest)
References: <ARMSTRON.94Sep22101630@fenton.cs.ucdavis.edu>
Date: Sat, 24 Sep 1994 18:35:11 GMT
Lines: 11

armstron@fenton.cs.ucdavis.edu (Matthew Aaron Armstrong) writes:
>Are there any good "introductory" articles/books on the Inverse
>Kinematics problem for "wheelchair" motion?  By wheelchair motion I
>mean motion in a 2D plane controlled by varying the speed of two drive
>wheels on the same axis.

     That's easy.  The heading changes linearly with the difference between
the wheel motions, and the forward position changes linearly along the
heading with the sum of the wheel motions.

					John Nagle
