# Questions tagged [two-wheeled]

Two Wheeled mobile robot

26 questions
37 views

### How do I compute the translation and rotation velocities of a robot

I am stuck at computing the translation and rotation of a robot moving onto an ellipse given by: $$p(t) =(m) + \cos(t)∗a + \sin(t)*b$$ where m = center of ellipse and the two axes a (horizontal) ...
28 views

### Need some advice on controlling maxon motors for two wheeled robot

I am using two maxon EC 45 flat motors to run a three wheeled robot (the third wheel is passive). I have two motor controllers (Maxon ESCON 50/5) to control each motor as well. There is a software by ...
37 views

### Calculation of inertia values of Ic and Im

In my dynamic model of two wheeled mobile robot, it has the total equivalent inertia, noted $I$, described by the equation below, $I_c$ is the moment of inertia of the DDMR about the vertical axis ...
77 views

### Dynamic model of two wheeled mobile robot

I wanted to design a LQR controller for my two wheel mobile robot. What are the equation of two wheeled mobile robot can be rearranged into state space model? My two wheeled mobile robot is nonlinear ...
49 views

### State space model

I want to design a LQR controller for my two wheeled mobile robot. While designing the controller, I need to find gain, K for the LQR which this required the state space model of wheeled mobile robot. ...
117 views

### TWIP robot - DC gearmotor speed/Encoders

I'm working on a self-balancing TWIP (Two-Wheel Inverted-Pendulum) robot project which will be using two brushed DC gearmotors with encoders. As there were no speed constraints for the robot (and ...
1k views

### Force calculations for a wheeled robot

I'm trying to work out the wheel force and torque required for a TWIP robot, so that I can size a motor. I've calculated a maximum traction force of $\small6.51\mathrm N$. My understanding is that a ...
95 views

### Determining rated speed (RPM) required for a DC gearmotor

I'd like a two-wheeled robot to travel at 1m/s, given a wheel radius of 0.03m. I've calculated the rated speed required by the gearmotor as 318.28RPM: $v = \omega r$, \$\displaystyle{\frac{v}{r} = \...
233 views

### DC gearmotor stall current and battery capacity

I'm working on a self-balancing robot project and am in the process of motor sizing. I've read that with self-balancing robots the motors need to switch direction quickly, which can cause them to ...
1k views

### Self balancing robot control system strategies [closed]

I’m in the early stages of designing a self-balancing robot as a way to refresh my knowledge on control theory, which has been gradually slipping away since graduating about a year and a half ago. I'm ...
478 views

### How to implement a particle filter when sensors can't identify landmarks?

I'm attempting to build a robot that leverages a particle filter to identify where it is relative to a map that is known. The robot only has IR sensors, so while it is able to determine its distance ...
312 views

### Reward Function for q learning on a robot

I have 2 wheeled differential drive robot which I use pid for low level control to follow line. I implemented q learning which uses samples for 16 iterations then uses them to decide the best position ...
3k views

### Making a car go straight [duplicate]

I'm trying to work a car that's being controlled by an Arduino. I'm using the following chassis: New 2WD car chassis DC gear motor, wheels easy assembly and expansion and an L298N motor driver. The ...
221 views

### Sphero's logic, how does it work

I'm willing to make my first robot, and I'd like to make one similar to the Sphero. I know I have to add 2 motors in it, and make it work as a hamster ball, but I don't understand how I can make it ...
975 views

### Wheel encoder triggers interrupt too many times

I am building a simple robot with two driving wheel. I want to control the wheel rotation using a wheel encoder like this one. Here is a code I have on Arduino to try to understand the problem I'm ...
2k views

### How to find kinematics of differential drive caster robot?

I'm working on a little project where I have to do some simulations on a small robot. I my case I'm using a differential-drive robot as one of the wheels of a bigger robot platform (which has two ...
423 views

### High-traction thin tires vs Wide moderate-traction tires? [Sumo-bot] [closed]

I am building a sumo-bot and our competitors have thin sticky tires, while we have wider and less sticky tires. The diameter is the same, and the gearbox/motor is the same. Who will win? PS: Sticky ...
105 views

### Accounting for error in multiple electric motors

Our goal is to drive an autonomous robot with a differential locomotion system using two identical electric motors and an Arduino Uno (1 for each wheel). From our understanding, over time the motors ...
27 views

### Keeping two wheeled wall following robot straight [duplicate]

I have a two-wheeled (two DC motors) robot that needs to follow the wall beside the robot. The issue is that the DC motors spin at different rates (because they are not identical, of course), so the ...
873 views

### 2D path following robot, converting XY axis path to input on wheels

at the moment I am creating an android program, that will steer my simple, 3 wheel (2 motors, 1 for balance) robot to move online following the path drawn by user on his screen. The robot is operated ...
10k views

### Calculate position of differential drive robot

How do you calculate or update the position of a differential drive robot with incremental sensors? There is one incremental sensor attatched to each of the two differential wheels. Both sensors ...
2k views

### Sensors for differential drive

I have the following chassis along with an Arduino and a motor shield. I'm in the process of developing a tracking mechanism for use with differential drive. Normally, a photo reflector can be ...
2k views

### Correct way to use Subsumption Architecture with Robot C

I've been doing a lot of reading lately about Subsumption Architecture and there are a few different ways people seem to advocate. For instance some people use a global "flag" variable to have a ...
6k views

### What is a suitable model for two-wheeled robots?

What is a suitable model for two-wheeled robots? That is, what equations of motion describe the dynamics of a two-wheeled robot. Model of varying fidelity are welcome. This includes non-linear models,...