Learning Robotics using Python - Second Edition

Selecting motors, encoders, and wheels for the robot

From the simulation, we got an idea of the robot's parameters. While experimenting with the simulation's parameters, we mentioned that the motor torque needed to drive the robot is 18 N, but the calculated torque is slightly more than this; we are selecting a standard torque motor that is very close to the actual torque in order to make the motor selection easier. One of the standard motors that we might consider is from Pololu. According to our design specifications, we could select a high-torque DC gear motor with an encoder working at 12 V DC and with a speed of 80 RPM.

The following image shows the selected motor for this robot. The motor comes with an integrated quadrature encoder ...