Questions tagged [wheeled-robot]
Wheeled-robot is a subtype of mobile robots which uses motor driven wheel(s) to be able to move.
197
questions
0
votes
0
answers
19
views
Suggestion for path following algorithm for mecanum wheeled mobile robot
I have a robot with four Mecanum wheels. I want to make robot follow different paths. The path information is given in x,y coordinates. I want to start from simplest controller i.e. open loop type as ...
- 1
0
votes
0
answers
16
views
Could hall encoders that are attached to the DC motors affect each other or the IMUs?
I am a newbie and I want to build an autonomous mobile robot. I am planning to use 4 DC motors with hall-effect encoders. I will use 4 IMUs for localization at first. Next, I also have the plan to ...
- 1
0
votes
1
answer
75
views
Vex Robotics- Falcon 500
I need two motors powerful enough to accelerate a 200 lbs robot at 10 ft/s^2. From doing the calculations, I know I am looking for a two 430 watt motors. I found the Falcon 500 motor on vex robotics ...
0
votes
1
answer
33
views
Move a Three Wheel Omni Robot
I understand this isn't for programming but it's easy to read. I have referenced This for a guide on how to move a 3 wheel omni robot but I have encountered a few problems.
...
- 3
0
votes
0
answers
124
views
Calculating motor Torque and rpm Requirements for Swerve Drive
Swerve drive is an independent steering type of drive system for mobile robots. To illustrate this better, A mobile robot uses 4 motors to drive 4 wheels, so 1 motor/wheel. However, a swerve drive ...
0
votes
1
answer
289
views
4-Wheeled Mobile Robot, Motor-Torque, RPM Calculation
I want the torque, rpm of every motor to be used considering certain factors, in a 4 wheeled robot as you see in the picture below.
Here are the factors affecting motor specifications that I Had ...
1
vote
1
answer
54
views
Drive unicycle kinematics equations through the geometry
The unicycle dynamics in discrete-time is given by:
$$
\begin{array}{l}
{x_{k + 1}} = {x_k} + \Delta {s_{k + 1}} \times \cos ({\theta _{k + 1}})\\
{x_{k + 1}} = {x_k} + \Delta {s_{k + 1}} \times \sin (...
- 179
0
votes
2
answers
46
views
After planning a path, how do I ensure the robot is following the planned path?
After planning a path using a path-planning algorithm, e.g. RRT* or A* how do I ensure the physical robot is actually following the planned path?
After doing some research, I've come across Craig ...
1
vote
1
answer
434
views
How do you model a physical robot (diff drive) in python?
I am using PyGame to simulate the motion of a differential drive robot. So far, I have used the standard diff drive kinematics, multiplying by delta time, and I have the motion working as expected.
...
- 11
0
votes
2
answers
54
views
Best way to power Raspberry Pi 4 8GB + Arduino Uno Robot?
I am building a robot that uses an arduino to drive 4 mecanum wheels, which will be controlled by a Raspberry pi 4 8GB with the Lobe Machine Learning Hat via a serial connection.
I'm fine with having ...
- 25
0
votes
0
answers
81
views
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 ...
1
vote
0
answers
102
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 ...
- 11
0
votes
2
answers
206
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 ...
- 71
0
votes
0
answers
25
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 ...
0
votes
2
answers
33
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 ...
- 553
0
votes
1
answer
52
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 ...
- 103
3
votes
1
answer
36
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 ...
- 553
1
vote
1
answer
34
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 ...
- 553
1
vote
0
answers
98
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 ...
0
votes
1
answer
158
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 ...
- 439
5
votes
0
answers
192
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 ...
- 51
0
votes
1
answer
67
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 ...
- 3
0
votes
0
answers
27
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 ...
- 1
0
votes
2
answers
176
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
3
votes
2
answers
86
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, ...
- 31
0
votes
0
answers
17
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(...
- 1
0
votes
1
answer
40
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 ...
- 101
-2
votes
2
answers
62
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 ...
user16003
0
votes
2
answers
208
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 ...
- 123
1
vote
1
answer
908
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 [...
- 123
2
votes
1
answer
47
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 ...
- 133
0
votes
0
answers
16
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 ...
2
votes
0
answers
107
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: ...
- 21
0
votes
0
answers
67
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 ...
- 11
1
vote
3
answers
213
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 ...
1
vote
0
answers
110
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 ...
- 11
0
votes
1
answer
44
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 ...
- 45
0
votes
2
answers
2k
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 ...
0
votes
0
answers
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 ...
- 113
0
votes
1
answer
344
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 ...
- 101
0
votes
1
answer
96
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 ...
user23478
0
votes
2
answers
162
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?
- 101
0
votes
2
answers
64
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
1
answer
216
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 ...
- 45
1
vote
0
answers
157
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
...
- 41
2
votes
1
answer
2k
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?
0
votes
1
answer
142
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 ...
- 41
2
votes
2
answers
436
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 ...
- 45
-1
votes
1
answer
69
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 ...
- 99
3
votes
3
answers
116
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 ...
- 189