Drive Kinematics: Skid Steer & Mecanum (ROS Twist included)


drive kinematics

Hi all I am often in need of the basic kinematic motion equations for skid steer vehicles. I have also recently been working with mecanum wheeled vehicles. The skid steer equations are fairly simple and easy to find, however I will include it in different versions and include a ROS approach. The mecanum wheel equations […]

Adaptive RRT – ARRT (with code)


Adaptive RRT

Hi all Back in 2010 I was taking an AI class where we learned about Rapidly Exploring Random Trees for motion planning. For my final project I developed an adaptive version of the RRT that I named ARRT. I decided to post it here to share with others. The post below is based from the […]

Robot Motion (Path) Planning Overview


motion planning example

This post is going to be a summary of the different motion planning (ie. route finding) algorithms that are commonly used. I am not going to detail any of the particular algorithms, but rather give you a launchpad for finding a suitable algorithm for your application. You should remember that often you will mix and […]

Copley Motor Controller Review


Copley controller

Hi all This is a post about the Copley Controls motor controllers. For this review I will be using a ACJ-055-09 (55Vmax and 9Apeak) motor controller (I love when product names mean something useful) with a 3 phase DC brushless motor. This is a good controller for distributed motion control. Copley makes several versions of […]

Robot Books: The basics, the middle, and a lot of math.


robot builders bonanza

Hi all Here are my recommended robotics books. I hope you enjoy. Please put your favorite robotics books in the comment section below. This first book Robot Builders Bonanza is a hobbyist level book but I still recommend it. This book introduces the basics of mechanical, electrical, microprocessors, and sensors that are used in modern […]

E-stop and M-stops



Hi all Just a quick note on e-stops (emergency stops) and m-stops (mobility stops). There are various levels of e-stops. In an ideal world an e-stop would kill power to ALL power, however in complex systems we often settle for less. Some reasons for a weaker e-stop is to keep the computers and other sensors […]