Questions tagged [wheeled-robot]
Wheeled-robot is a subtype of mobile robots which uses motor driven wheel(s) to be able to move.
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How to create pseudo code for Braitenberg vehicle 2b?
I am asked to make Braitenberg vehicle for small robotic exhibition. I am asked to use GL5528 light sensor. My job is to construct and program Braitenberg vehicle 2b, which uses GL5528 light sensors ...
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16 views
I’m not sure how to calculate the torque of a tank chassis what values do I need?
So I plan to build a robot-tank thing. It’s max weight will be 35kg and it’s driving wheel will have a radius of 0.05m. Those are the two values I know for certain and there will be no gears between ...
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18 views
How to implement PID position control for 4wheel mecanum robot?
I want to implement PID control on my 4 wheel mecanun robot. I want to give a position instruction to my robot and that it follow the following curves of velocity and position. The only feedback that ...
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2answers
58 views
PID controller for motor speed control and distance control
I am building a robot rover comprised of dual DC motors each with hall sensors to obtain rotaional speed. I currently have a PID controller for each DC motor that is able to control the speed of the ...
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23 views
Why isn’t my shaft moving? [duplicate]
When I put my shaft through the vehicle body (small robot) and have the motor attached to it through two rotating gears, the shaft isn’t rotating?
I think it’s due to how the hole diameter is the same ...
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13 views
What is the mathematical relation between phi1, phi2, phi3 and motor PWM values for 3 wheel omni drive robot?
My question is that I cannot deduce the relation between phi1, phi2, phi3 values of the omni robot (3 wheeled) and the motor's PWM values, since I'm planning on designing the robot to perform "go ...
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2answers
22 views
Sprockets for steering
I'm planning to drive the steering of a AWD rover using stepper motors. Is it usually a good idea to use sprockets and chains for that? Would the precision typically be too low for steering? The ...
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1answer
43 views
wheeled vehicle forward velocity from RPM brushless data
I'm trying to hack an electric RC car with the goal to make it autonomous, as part of my PhD research.
The mounted ESC is able to send back telemetry data, including the spinning velocity (in RPM) of ...
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32 views
How to evaluate the location accuracy of a visual slam algorithm in an indoor enviorment without motion capture system?
I have a ground mobile robot with wheel for indoor applications and I want to develop a vSLAM algorithm for it. So one problem for me is how to know my modifications do really improve the performance ...
3
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1answer
30 views
Worm gearbox for steering
I'm planning on making a smallish off-road rover (15-25kg net weight) with 4-wheel steering and I was wondering if it'd be a good idea to use (self-locking) worm gearboxes for steering. I've thought ...
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1answer
27 views
Motorised steering without shock absorber?
I was looking up on the Curiosity Mars Rover and noticed that the steering appears to be driven by a (geared) stepper:
I presume the drive contains a worm gear to reduce power consumption of the ...
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0answers
52 views
Rotate while strafing with mecanum wheels
I have a robot with a drivetrain that is comprised of 4 mecanum wheels. These wheels are able to move vertically and horizontally, as well as rotate. The robot is square (18in x 18in) with the front 2 ...
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1answer
36 views
error with dimensions in Simulink
I am trying to simulate a cartesian regulator for a unicycle with Simulink and I am having some problems.
My simulink model is the following:
and when I run it I get the following error message:
so ...
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0answers
95 views
Likelihood field sensor model (Probabilistic Robotics, Thrun et al., p.169-174)
I am currently working on the "likelihood field" sensor model (aka "endpoint model") by Thrun et al. (book: Probabilistic Robotics, Thrun et al., p.169-174)
In this context I have ...
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23 views
Help finding a replacement for a broken gear
My robot lawn mower (a Robomow rx20u) was moving erratically, so I took apart the wheel assembly and found that one of the reduction gears has several broken teeth (in the picture, look at the right-...
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1answer
37 views
Differential Drive Tricycle WMR with active caster wheel
I'm doing some research for my university project and in particular it concerns a functional design project. I thought it would have been possible to design a 3-wheel mobile robot with an active ...
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36 views
How to avoid hair entanglement in your robot wheels?
This isn't about any complex math or physics of robots, but rather an annoying practical issue I don't find much information about.
My robot works indoors (house, office) and there's certainly going ...
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14 views
problem in understanding this part of the RRTx path finding algorithm
this is a paragraph from the paper of the RRTx algorithm
and below it a figure referenced in the paragraph
however the No and Nr nodes types are unclear to me what are they exactly ?
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19 views
Maximizing the Coefficient of Friction Between Two Surfaces
I am new to this site so please let me know if I can improve my question. A component of a robot I am designing includes a four-wheeled carriage that travels linearly on an aluminum surface. The ...
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2answers
103 views
Guidance on SBC for Visual-Based SLAM [closed]
Intro: I am a student that just started a project regarding prototyping a mobile robot that involve Indoor SLAM implementation. I am very new to the field of computer vision, SLAM and SBC (single ...
3
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2answers
55 views
Robot - Wall Avoiding (Plinko Robot)
I am looking to build a robot that will travel and zig-zag down the hallway.It will be headed towards a wall at roughly 45 degrees and then use a IR LED to detect when a wall is nearby. From there, ...
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0answers
11 views
Avoiding obstacle of a car robot using IR
I am using an IR sensor which detects the obstacle. My question is how does 2 robots stops on a finish line which is an object higher that the height of the car robot if i am using IR, comparator(...
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1answer
28 views
Bump and turn toys: how do they work?
I remember that when I was a kid, in the 1980s, I had some toys made in Taiwan that basically worked like this: they moved forward uniterruptily until they bumped into an obstacle; then they moved ...
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2answers
57 views
Should a walking robot necessarily be a better cleaning robot than a wheeled robot?
All cleaning robots I found so far sold in stores, for cleaning an house, are not walking robots but rather short, wheeled robots.
I assume that walking robots could have way more sophisticated ...
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2answers
121 views
Path-following algorithm and suggestions for mecanum robot
I have a robot with four mecanum wheels (blue square) that can move in an open-space room.
The position x,y of the robot is measured in a very accurate way by a fixed position sensor (red circle) that ...
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1answer
485 views
How to drive mecanum wheels robot: code or algorithm
I have a robot with four mecanum wheels and I would like to make it move correctly by using a RC transmitter (my controller has two sticks and several buttons, each stick has a proportional range of [...
2
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1answer
41 views
Are rotary encoders necessary for ball shooting mechanism?
I'm designing a bot for a TDP(Team Documentation Profile) for a competition which is supposed to throw a rugby ball. Since the deadline is closing in soon, I can't test things out myself.
After ...
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0answers
15 views
Gyroscope signal when mounted on a deflated tire
Before I do the experiment, I am a bit confused about the expected signals provided by a 3-axis gyroscope (angular velocities vs. time) mounted on the edge of a (slightly) deflated car tire when the ...
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0answers
63 views
Choosing right motors for self-balancing robot [closed]
I’m looking for right motors for my first self-balancing robot.
Design assumptions:
robot height: around 120-200 mm
robot weight: around 600-800 grams
wheels: 80x10 mm or 90x10 mm
battery voltage: ...
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0answers
54 views
How to make a diff robot (2 traction wheels front and 2 castor wheels back) to go straight?
I’m developing a differential robot. My wheeled robot has two castor wheels in the back and two driven wheels in the front. The motor controller I’m using can handle two motors each with 90 cpr. Each ...
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3answers
130 views
I wanna make a raspberry pi car using an RC car. I would like to know if the servo multiplexer is necessary?
So I'm working on a project and it involves making a raspberry pi car, be it from scratch or with the help of can rc car. I chose the latter. Now the problem is I don't really have servo multiplexers ...
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77 views
4 wheeled differential wheeled (skid-steer) robot steering problem
My question is about a square shaped differential wheeled robot, I built, that has a hub-motor (BLDC motor) attached to each corner, i.e., the wheels on the same side, either left or right, have the ...
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1answer
41 views
Can knowledge of robot's dynamics help in motion planning?
Some planners assume a kinematic model of the robot for example diff drive or omni directional etc. while generating motion plans for the robot. Can knowledge of the dynamics of the robot help ...
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2answers
1k views
How to implement a wall following controller for a TurtleBot3? (ROS - Python)
I want to implement a wall following controller for my TurtleBot3 (with ROS system).
Sensors which I have on the robot: lidar(360) and optional 2 ultrasonic sensors on the side (one on the left and ...
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0answers
23 views
AlphaBot2 run / migrate to .NET Core
Bought this robot called AlphaBot2. Has sample code here:
https://www.waveshare.com/wiki/File:AlphaBot_Demo.7z
What I am interested in knowing is how do I convert these Python samples to C# with .NET ...
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1answer
194 views
Plot a map using wheel encoder and IMU data
I want to plot a map( with matplotlib or any other library ) using a wheel encoder and IMU data.
Eg:- For every 10cm robot moves it should draw line (in a graph) and draw angles depending on the data ...
0
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1answer
69 views
What robotic skills can I develop when working as a robot operator? [closed]
I find myself very interested to work in the field of robotics though my background is not robotics, I had a degree in Physics, master 1 in Hydrodynamics and this year I have studied just one semester ...
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2answers
116 views
Can Swedish wheels be used in two wheeler configuration?
Can we use any of the Swedish 90°/45° Omni or Mecanum wheels in two wheeler configurations?
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2answers
62 views
Multiple robots performing a set of tasks (Optimization)
Consider a situation where you have a 'm' number of robots and 'n' number of tasks. Each task is at a different location. What optimization algorithm should I use in order to assign a set of tasks to ...
2
votes
1answer
166 views
Feedback linearization of a nonlinear MIMO system
I have to design a feedback linearization for the model of a car with a single trailer. This picture shows the system:
And this is the kinematic model I got, where ...
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0answers
73 views
Sensorfusion of odometry, accelerometer and gyroscope using Indirect Kalman Filter
I'm trying to implement an indirect Kalman for pose estimation of a wheeled robot.
I found two papers that describe this approach.
CMU. Journal (2006) Vol. 5(1)
IFAC Conference on Embedded Systems
...
2
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1answer
1k views
What is the difference between the pose of a robot and the configuration of a robot?
Do "configuration" and "pose" means the same thing? If not what is the difference?
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1answer
115 views
How to drive a curve in a maze
im currently programming a robot with 2 wheels and i got the task to let it drive alone for a few minutes in a maze. I just managed to programm a controller that controls the distance to each wall ...
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votes
2answers
322 views
Controllability of a car with a single trailer
I'm studying the kinematic model of a car with a single trailer. This picture shows the system:
I started from the following statements:
With these constraints, I got the Pfaffian form:
And then ...
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votes
1answer
56 views
Why my stepper motor doesn't move when I attach a blade?
I wanted to use the NEMA 17 stepper to drive a blade/flapper that I have custom made for some physical application.As soon as I tighten the screw,the motor stops rotation in the usual way. Don't have ...
3
votes
3answers
115 views
Interference caused by multiple robots during task completion
Suppose there is an area to survey. If we deploy one robot it takes time T to sweep the area. Now if we deploy 2 robots, we would expect it to take time T/2. However in reality, because we are sending ...
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0answers
64 views
TGY-6114MD Servo motor needs push to start
I currently have an inspection robot deployed in a remote part of Africa that has a failing Turnigy TGY-6114MD servo. The issue appeared randomly. The servo won't respond to commands unless given a ...
0
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1answer
333 views
Omni vs mecanum wheels for drawing robot
I'm designing a mobile robot which will have to draw some lines (straight and/or curly) on the floor while it moves.
The floor will always be flat with almost no obstacles.
The robot will have four ...
0
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1answer
461 views
How do I create a broken line follower? [RobotC] [Legomindstorm] [Ev3]
Trying to create an algorithm/code in order to get my robot to follow a track which it currently can do, using a color sensor and following the inside edge. So I'm wondering how to transition to the ...
2
votes
1answer
72 views
How many encoders should I have?
I'm planning a robot vehicle and plan to get one or more motors that have encoders built in.
How many encoders do I need I really need in order to gather solidly accurate information about speed ...
