Mechatronics of wheel minirobot M.R.K

In this paper some problems concerned with designed and made by author's mini robot named M.R.K are explained. Most important think is modeling of kinematics and dynamics of such type of mechanism. Example of use of fast prototyping methods for implementing models in robot control system was shown. Problem of modeling of kinematics was explained together with effects of simulations. In case of modeling of dynamics to basic configurations of robot, with and without of supporting wheel are discussed. Control system of robot was made with use InTouch, Matlab and MS SQL database engine, visualization system was applied to help controlling robot in unknown or uncertain work space.