Our robot base might need to carry a robot arm and some additional payload along with it. Also, our robot base should ensure it is electromechanically stable so that it has enough torque to pull its own load, along with the rated payload, and move smoothly with fewer jerks and with marginal pose error.
A pose constitutes both the robot's translation and rotation coordinates in space with respect to the world/earth/environment.
Let's consider the following specifications for our robot base:
- Size: Somewhere within 600 x 450 x 200 (L x B x H, all in mm)
- Type: Four-wheel differential drive robot
- Speed: Up to 1 m/s
- Payload: 50 kg (excluding the robot arm)
