Saturday, March 29, 2008


This is the most commonly used form of locomotion system used in mobile robots as it’s the simplest and easiest to implement
It has a free moving wheel in the front accompanied with a left and right wheel.The two wheels are separately powered
When the wheels move in the same direction the machine moves in that direction. Turning is achieved by making the wheels oppose each other’s motion, thus generating a

In-place (zero turning radius) rotation is done by turning the drive wheels at the same rate in the opposite direction
Arbitrary motion paths can be implemented by dynamically modifying the angular velocity and/or direction of the drive wheels
Total of two motors are required, both of them are responsible for translation and rotational motion

Differential Drive An Analysis

Simplicity and ease of use makes it the most preferred system by beginners
Independent drives makes it difficult for straight line motion. The differences in motors and frictional profile of the two wheels cause them to move with slight turning effect
The above drawback must be countered with appropriate feedback system. Suitable for human controlled remote robots

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