Sensors & perception
LiDAR & IMU Basics
Understand range scans, inertial measurements and the practical limits of combining them.
Read noteRobotics · Embedded Linux · Edge computing
Practical robotics.
Clear engineering notes.
A small collection of reference guides, illustrative designs and tools for curious engineers.
Explore the notes
Engineering notes
Short, practical introductions.
Start with a question, then follow the references.
Embedded inference
Edge Vision Essentials
Follow a camera frame from capture to inference, and learn what to measure before optimizing.
Read note
Linux & timing
Real-Time Linux Explained
Explore scheduling latency, PREEMPT_RT and why a fast benchmark is not a timing guarantee.
Read note
Hardware & power
Power Budget for a Mobile Robot
Continuous versus peak current draw, preventing inductive motor sag, and DC-DC rail isolation.
Read noteA system, not a shopping list
Inside a mobile robot
A reference architecture connects sensing, estimation and control. The illustration is a concept; real components must be selected against measured requirements.
Explore the sensing layer →From observation to action
SensorsState estimatePlanningControl
- Measure: collect timestamped range, motion and camera data.
- Estimate: combine observations with a model and uncertainty.
- Act: send bounded commands and monitor the outcome.
Interactive sizing tools
First-principles engineering estimators.
Understand assumptions before selecting actuators.
Small tools / 01
Simplified arm torque estimator
Explore the gravity torque of a point payload on a massless arm. Angle is measured above horizontal.
Gravity torque44.1 N·m
Formula, assumptions & limitations
τ = m × 9.80665 × L × cos(θ), where m is mass in kg and L is distance to the payload in metres. θ is measured from horizontal.
This static estimate excludes arm mass, acceleration, friction, transmission losses, structural limits and safety factors. It is not a six-axis simulation or a component-selection tool. Educational use only; not for safety-critical design.
Small tools / 02
Wheel speed calculator
Estimate theoretical linear rover speed from motor RPM, gearbox reduction and tire diameter.
Linear velocity1.26 m/s4.5 km/h
Formula, assumptions & limitations
v = (π × D × (RPM / G)) / 60, where D is diameter in metres, RPM is motor speed, and G is the reduction ratio.
Assumes rigid non-deforming tires, zero wheel slip, and perfect traction. Does not account for motor torque curve drop-off under load, terrain slope resistance, or rolling friction.
Quick technical toolkit
Practical checklists, offline references, and documentation directories designed for fast access in the workshop or terminal.
Linux DiagnosticsRobotics GlossaryROS & Kernel Docs
Open resources index About this reference
Built for understanding.
CKW Robotics Lab is a small collection of independent educational notes about robotics and embedded computing. “Lab” describes the exploratory format, not a claim of a physical research facility. Diagrams and platform designs are illustrative; examples are not published hardware benchmarks.