HOWTO Design a 3-Wheels Holonomic Robot: The Theory
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- Опубліковано 13 січ 2025
- Not hard maths, but still lots of maths to make the three wheels robot move forward and to the sides: Trigonometry, matrix, vectors, inverse matrix, forces, tangent line...
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So well explained, been using this for robotics competition since 2015~ :D
Beautiful video thank you for sharing
This 3 drive system is incredible. Can you please explain what is happening at 3:20 and why you use sin phase shifted pi/2? I'm dying to understand!
mailbox2223 Because if you see the draw, in fact the F direction component is phased pi/2 to alpha 1 angle.
The Technic Gear LEGO Reviews But wouldn't it be pi/6 since it's 30 degrees to the x-axis?
mailbox2223 We are doing F1, no the vector from center to F1, so if you see it, F1 is turn 90º against the direction of the vector from center to F1 ( that yes, is 30º but it is represented by alpha 1
What do you mean by "the vector from the center"? I'm sorry I'm just really trying to understand. I even built a triangular frame for my vex robot and am trying to program it.
The Technic Gear LEGO Reviews Oh wait! Do you mean that F1 is applied 90 degrees from the direction of the vector starting from the center to the center of the wheel?
Thanks for making this video. It's been a long time since college...
How matrix inversion works. The data of sines and cosines are if I am not mistaken row 1: 0.886, 0.886, 0 row 2: -0.5, -0.5, 1 and row three according to the video is 1,1,1. But then this is multiplied by f1, f2, f3 and that's where I get lost. Your values of 0.58, -0.33,0.33 etc, which are already those of the matrix investment, do not know how those results give you. Thank you
Super super interesante. Te sigo desde tus inicios donde recuerdo que aconsejabas otros canales de canales que empezaban. Gracias por cada uno de tus vídeos.
Hi :) I am using your equations for driving a 3 wheel system. I just wanted to point out that your x-Axis is oriented in the wrong direction. Thank You for the explanation
can u explain how ??
@@mohammedadel9502
You need to intervert columns 1 and 2 in your last matrice.
Taking your last example you won't go up as expected, but to the right.
If by invert, you mean swap, then I agree. The inverse matrix should be:
-0.33 +0.58 +0.33
-0.33. -0.58. +0.33
+0.67 0.00 +0.33
@@chrisengland5523 This is correct, I have verified with MATLAB.
Hi can please explain how match equation to motor
Thankyou
awesome!
do you know how to do the math for a yawvr type chair ? was thinking of building one with some nema 34 and a cement casting of yoga ball and hemp mat
Can you please explain the same for 4 wheel omni drive in cross configuration
What's that 0'33 please explain...???
After you replacing those sins and respective angles, you'll get a specific number so your matrix will be fulfilled by them. After that you'll inverse that matrix and the result of that inversion will be that matrix of 0'33, 0'67 and so on... To get a forward movement, you'll need the acceleration in the y axis component to be 1 and for the remaining axis to be 0. Replacing the components and solving the matrix, you'll end up with that 0'33. (This case is only applied for the forward movement, for right-side movement you'll need the x axis to be 1 and the y axis to be 0. For left-side movement you'll need the x axis to be -1 and the y axis to be 0. All the process remains the same as before.)
What is the arrangement of wheels
Hi, how could I undersrand coordinates (x,y) of my 3 wheels omni robot if I only know velocity of 3 motors,diametrs of 3 motors, radians of 3 motors and delta t?
thank , very good!!!
I want ask How if we want to used 3 encoder on that design?
encoder di-couple ke shaft motor aja bro
awesome
if we use 2 motors and other normal turning wheel perpendicular to 2 motors, can i model like this
this is not possible as if turning wheel is perpendicular to both the motors than both this should in facing each other if all three need to be in plane and your robot can move only in one axis
awesome
nice work..
can you tell me the what is the significance of "f1,f2,f3"force?
Ranjit Barua
Yeah, they are the linear forces that each wheel generates when rotated by the motor
hi ist f1 f2 and f3 are Force what are ax and ay?
hi ist f1 f2 and f3 are Force what are ax and ay?
shayad sir notes bana rahe the aur video ban gaya
What is f1 f2n f3
its the forces for the 3 motors receptively ... On real robot you have to convert them to appropriate PWM signals ( thats what i think)