A robot with three omni-directional wheels.
I built this robot to learn about kinematics and for fun.
This project takes source code and inspiration from the following sources.
https://github.com/linorobot/linorobot2
A library for robots with various kinematics by Juan Miguel Jimeno.
https://github.com/madhephaestus/ESP32Encoder
- https://en.wikipedia.org/wiki/Kiwi_drive
- https://github.com/manav20/3-wheel-omni
- https://github.com/YugAjmera/omni3ros_pkg
- YouTube: Kinematics of Mobile Robots with Omni Directional Wheels. Lecture by Dr. Mehran Andalibi.
After testing on a breadboard, I soldered the components to a prototype board. I tried to make it small, because I worried the platform won't fit all the components. Soldering on this tiny board was quite laborious. In retrospect the platform does have enough room, so I could have used a bigger board.
This video demonstrates that the encoders are measuring wheel rotation speeds correctly.
The robot can be controlled with an Xbox Controller over Bluetooth.