Position Control of Differential Drive Mobile Robot - Complete Tutorial with Simulation Animation
5.5 هزار بار بازدید -
9 ماه پیش
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#robotics
#robotics #roboticstutorials #roboticstraining #roboticsengineering #slam #pygame #mechanicalengineering #mechatronics #roboticseducation #automation #plc #controlengineering #kinematics #mechanics #dynamics #dynamicalsystems #electricalengineering #aerospacetutorials #aerospace #machinelearning #controltheory #optimalcontrol #optimization
Professional ROS1/ROS2 courses and training: https://cyberneticsstemacademy.com/co...
The Python code files used to implement the controller and generate the animation are given here (a fee is required):
https://ko-fi.com/s/5e3bd8cf32
It takes a significant amount of time and energy to create these free video tutorials. You can support my efforts in this way:
- Buy me a Coffee: https://www.buymeacoffee.com/Aleksand...
- PayPal: https://www.paypal.me/AleksandarHaber
- Patreon: https://www.patreon.com/user?u=320801...
- You Can also press the Thanks YouTube Dollar button
In this control engineering and robotics tutorial, we explain the basics of position controllers for mobile robots. As a test case, we use a differential drive robot. Differential drive robots are also called differential wheeled robots. We design a simple proportional controller that will drive the robot center from the initial to the desired location. We use a kinematics robot model developed in our previous tutorial to simulate the robot’s motion. We explain how to generate a 2D Pygame animation that simulates the robot’s motion and control performance. Here, it should be kept in mind that we develop a controller that is based on the kinematics of the robot without taking into account the robot’s dynamics described by mass, moments of inertia, and dynamics equations.
Professional ROS1/ROS2 courses and training: https://cyberneticsstemacademy.com/co...
The Python code files used to implement the controller and generate the animation are given here (a fee is required):
https://ko-fi.com/s/5e3bd8cf32
It takes a significant amount of time and energy to create these free video tutorials. You can support my efforts in this way:
- Buy me a Coffee: https://www.buymeacoffee.com/Aleksand...
- PayPal: https://www.paypal.me/AleksandarHaber
- Patreon: https://www.patreon.com/user?u=320801...
- You Can also press the Thanks YouTube Dollar button
In this control engineering and robotics tutorial, we explain the basics of position controllers for mobile robots. As a test case, we use a differential drive robot. Differential drive robots are also called differential wheeled robots. We design a simple proportional controller that will drive the robot center from the initial to the desired location. We use a kinematics robot model developed in our previous tutorial to simulate the robot’s motion. We explain how to generate a 2D Pygame animation that simulates the robot’s motion and control performance. Here, it should be kept in mind that we develop a controller that is based on the kinematics of the robot without taking into account the robot’s dynamics described by mass, moments of inertia, and dynamics equations.
9 ماه پیش
در تاریخ 1402/08/10 منتشر شده
است.
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