https://github.com/mahmood-anaam/wheeled-robot-simulation
A Python simulation of a robot equipped with four Swedish wheels, focusing on accurately modeling its kinematics and dynamics to analyze specific motion scenarios.
https://github.com/mahmood-anaam/wheeled-robot-simulation
kinematics-dynamics matplotlib-python numpy python robotics-simulation roboticstoolbox-python swedish-wheels
Last synced: 3 months ago
JSON representation
A Python simulation of a robot equipped with four Swedish wheels, focusing on accurately modeling its kinematics and dynamics to analyze specific motion scenarios.
- Host: GitHub
- URL: https://github.com/mahmood-anaam/wheeled-robot-simulation
- Owner: Mahmood-Anaam
- Created: 2024-10-27T17:23:06.000Z (8 months ago)
- Default Branch: main
- Last Pushed: 2024-10-27T17:38:25.000Z (8 months ago)
- Last Synced: 2025-02-08T21:11:34.924Z (4 months ago)
- Topics: kinematics-dynamics, matplotlib-python, numpy, python, robotics-simulation, roboticstoolbox-python, swedish-wheels
- Language: Python
- Homepage:
- Size: 60.5 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# wheeled-robot-simulation
This repository contains Python code for simulating the motion of a robot equipped with four Swedish wheels. The purpose of this repository is to accurately model the robot's kinematics and dynamics and to analyze specific scenarios related to its motion.
## Robot Description
- **Wheel Type**: Swedish wheels with rollers oriented at ±45 degrees.
- **Parameters**:
- Wheel radius: \( r = 0.01 \) m
- Positions:
- Along the y-axis: \( a = 0.5 \) m
- Along the x-axis: \( b = 0.2 \) m
- Mass: \( m = 6.0 \) kg
- Moment of inertia: \( I = 0.25 \) kg·m²
## Scenarios Analyzed
1. **Trajectory with Equal Forces**:
- **Description**: With equal forces of 1 N applied by all four wheels, the robot moves in a straight line.
2. **Effect of Wheel Wear**:
- **Description**: A 0.01% reduction in force on one wheel causes the robot to deviate gradually, resulting in a slight curved trajectory.
3. **Circular Motion**:
- **Description**: By calculating appropriate wheel velocities using the wheel matrix, the robot can be made to move in a circle.
## Files
- `wheeledRobot.py`: Functions for kinematics and dynamics simulation.
- `main.py`: Demonstrates the usage of these functions.
- `wheeled_robots_figure.png`: Image of the robot configuration.
- `README.md`: Project description.
## How to Run
1. **Install Dependencies**:
```bash
pip install numpy matplotlib roboticstoolbox-python
```
2. **Execute the Simulation**:
```bash
python main.py
```