Robotics

In the first two parts of this series, we built an omni-directional wheel. We saved it as a reusable library block. For this robot, we need three of them. Placing the three wheels on the chassis is mostly a mechanical step. After that, things get a little more interesting. We now have to think about…

The post details the process of creating a virtual model of an omni-directional robot wheel using Simscape’s Multibody modeling tools. It outlines steps such as breaking down the assembly hierarchy, creating components like passive wheels and wheel hubs, and connecting them with joints to enable motion. The final model serves as a digital twin for…

Introduction Every robot navigates with different levels of control and agility. If a mobile robot’s level of control matches its total possible degrees of freedom, its movement is described as holonomic[1]. When the level of control is less than its available degrees of freedom, its movement is described as non-holonomic. A good example of this…