The article deals with the design of the educational model of the robot, where, in addition to kinematics, the control system of the robot and the simulation of the robot's activity in the GAZEBO environment are also addressed. Students can train different control algorithms on this model. At the same time, a graphical interface for simulating the robot's activity is also created. The control system is composed of a low-cost embedded Arduino system, which is very easy to program and create control systems. Simulations and experiments showed the correctness of the design methodology of such a robot model.
Science Journal 