Michael Wiznitzer

Technical Skills Used

• Python
• V-rep Robotic Simulator
• Forward and Inverse Kinematics
• PI Feedback Control
• Rigid Body Motion (Rotations, Transformations, Twists)
• Mecanum wheeled mobile robot modeling and manipulation
• Odometry estimation of the chassis based on the wheel velocities

How it Works

To understand the general flow of how the kinematics were calculated to move the robot, check out my Readme.

Demo

Three different cases were analyzed and are shown below. For more info about what each case was and what their corresponding error plots look like, see my Readme.