Kinematic-Omniwheels-in-Webots

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Kinematic-Omniwheels-in-Webots

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Kinematic omni wheels in Webots and PID controller

Kinematic-Omniwheels-in-Webots 최신버젼 다운로드

최종 버전 다운로드 (.zip)

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# Kinematic-Omniwheels-in-Webots
  This Repository Include Kinematic Omniwheel and Simple Control PID

# Inverskinematic Equations

![Invers](https://github.com/MasdikaAliman/Kinematic-4-Omniwheels-in-Webots/assets/132833231/db91ee79-1970-4258-9cfb-5f7aeda2716c)

# Forwardkinematic Equations

![Forward](https://github.com/MasdikaAliman/Kinematic-4-Omniwheels-in-Webots/assets/132833231/e23c5d06-d3ea-434c-9ec1-76eecee8657c)

# Control Diagram

![control](https://github.com/MasdikaAliman/Kinematic-4-Omniwheels-in-Webots/assets/132833231/64ec6519-9fea-4a99-8936-f4547ba27266)

## How to Run

| Step | Description |
|------|-------------|
| 1.   | Clone the repository. |
| 2.   | Navigate to the project directory. |
| 3.   | Create a `build` directory: `mkdir build` |
| 4.   | Change to the `build` directory: `cd build` |
| 5.   | Set the `WEBOTS_HOME` environment variable to your Webots installation path: `export WEBOTS_HOME=YOUR_WEBOTS_PATH` |
| 6.   | Configure the project with CMake: `cmake ..` |
| 7.   | Build the project: `make` |
| 8.   | Run in WEBOTS|
| 9.   | Enjoy the simulation! |

## Results Simulation
![Circle Trajectory test](https://github.com/MasdikaAliman/Kinematic-4-Omniwheels-in-Webots/assets/132833231/b5daa9ba-b8c1-4116-9b4d-149f45cf1174)

![Point To Point Test](https://github.com/MasdikaAliman/Kinematic-4-Omniwheels-in-Webots/assets/132833231/3a65fa67-b0bf-4388-be2c-6b964f99530b)

## Implement in Robot Soccer
![Simulation Video](https://github.com/MasdikaAliman/Kinematic-4-Omniwheels-in-Webots/assets/132833231/b7c66823-12ad-4a33-b586-4e0954a59215)

Kinematic-Omniwheels-in-Webots

Kinematic-Omniwheels-in-Webots 최신버젼 다운로드

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Kinematic-Omniwheels-in-Webots 최신버젼 다운로드

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