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What is Swerve Drive Kinematics Explained about?

This document discusses the limitations of first order kinematics in swerve drive systems used in FRC, specifically their inability to account for linear accelerations and angular velocities during maneuvers. It presents a derivation of second order kinematics that provides the necessary equations to calculate module velocities and accelerations for improved robot control. The findings suggest that while second order kinematics can reduce skewing effects, additional closed-loop control may still be required

Author

1661484

Language

EN