A mobile robot belongs to the wheeled robots category and is usually equipped with wheels or crawlers. For the sake of simplicity, in this chapter, we will develop a two-wheeled mobile robot. In fact, our robot will have three wheels but the third one will be neutral and will be used for the overall robot balance. So, the actual actuators are the two front motors and thus we call it a two-wheeled robot.
Any robot mechanism consists of actuators and links. An actuator is a motor or anything the produces thrust and torque. A link, on the other hand, is the hardware part that links the actuator with the chassis. The basic principle is very simple and inside every robot there are motors and links. In this project, we will build a two-wheel mobile robot, which consists of two actuators. In other words, our actuators are simple DC motors, which produce the necessary...