Chapter 3, Modeling the Differential Drive Robot

1. Robot modeling is the process of creating the 2D and 3D representation of robot having all the parameters of the robot, which includes kinematic and dynamic parameters of the robot.
2. The 2D model mainly includes the exact dimension of robot parts, which helps us compute the kinematics of the robot as well as helps manufacture robot parts.
3. The 3D model of the robot is an exact replica of robot hardware having all parameters of the physical robot designed using a CAD software. This is used for creating robot simulation and 3D printing parts of the robot.
4. Creating a 3D model using Python scripting is much easier and accurate than manual modeling if you know the Blender scripting APIs.
5. URDF is the 3D robot model representation of robot in ROS. It is having kinematic and dynamic parameters of the robot.

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