The GoPiGo3 kit is composed of four several subassemblies:
- The chassis, which is the main structure that all the parts are attached to. This includes the following:
- Raspberry Pi and GoPiGo3 board
- Motors
- Battery package
- Wheels
- Caster
- Two wheels – left and right, each one driven by one motor.
- A caster, which is a small freewheel attached to the rear part of the chassis that keeps the robot supported on three points: the left and right wheels and the caster itself. Be aware that one freewheel is the minimum to keep the robot rolling on the floor:
- If the caster were not present, the system would be underconstrained. Then, you would have a self-balancing robot that would have to be continuously actuated by its motors to stay in equilibrium. This is a closed-loop control problem that needs the Inertial Measurement Unit (IMU)...
