Advanced Robotics & Kinematics · Advanced

Omnidirectional Inspection Base

Three- or four-wheel omni base translating and rotating independently. Three- or four-wheel omni base translating and rotating independently.

Components

  • MCU
  • omni motor drivers
  • encoders

Build steps

  1. Inventory the board, actuators, sensors, and power rails listed for R06.
  2. Build and inspect the low-voltage wiring against the supplied connection diagram before connecting actuators.
  3. Flash the firmware, run the startup self-check, and record the printed board and firmware version.
  4. Calibrate the sensors and limits, then run the acceptance tests at the lowest safe energy level.

Test and expected result

Test commanded versus measured x, y, and yaw motion at low speed.

Safety and limits

Test each wheel independently before combined motion.

Download Arduino source code

Download connection diagram SVG

Omnidirectional Inspection Base project illustration