Holonomic Motion

I developed a holonomic motion system for an omnidirectional mobile platform paired with a robotic arm. The project combined kinematic modeling, motion control, and workspace coordination to enable smooth, field-oriented base motion while preserving arm stability.

What I implemented

• Designed holonomic drive kinematics for a four-wheel omnidirectional base.
• Implemented motion control that translates user velocity commands into wheel setpoints while maintaining stable arm positioning.
• Integrated base motion with the robotic arm so the system could reposition without disturbing end-effector pose.

Why it was useful

This project improved platform agility and made the robot capable of precise, omni-directional repositioning in constrained environments, which is essential for applications like mobile manipulation, assembly, and human-robot collaboration.