Razvoj mobilne robotske platforme zasnovane na ROS-u
Ključne reči:
Mobilna robotika, Robotski operativni sistem, BLDC motori, Upravljanje kretanjem, Raspberry Pi kontroler
Apstrakt
Za razvoj novih primena mobilnih robota, potrebno je imati test platforme. Dostupne su komercijalne mobilne robotske platforme, ali usled visoke cene čak i najosnovnijih modela, rad se bavi razvojem jedne nove platforme zasnovane na Robotskom Operativnom Sistemu (ROS). Odabran je skid steer pogon i motor sa direct drive pogonom. Nakon razvoja mehaničke konstrukcije razvijen je motor kontroler za upravljanje pogonskim motorima i izvršeno je povezivanje sa centralnim računarom.
Reference
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[3] S. Pedre, M. Nitsche, F. Pessacg, J. Caccavelli, P. De Cristóforis, “Design of a multi-purpose low-cost mobile robot for research and education,” Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 8717 LNAI, no. August 2015, pp. 185–196, 2014, doi: 10.1007/978-3-319-10401-0_17.
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[5] T. Wang, Y. Wu, J. Liang, C. Han, J. Chen, Q. Zhao, “Analysis and experimental kinematics of a skid-steering wheeled robot based on a laser scanner sensor,” Sensors (Switzerland), vol. 15, no. 5, pp. 9681–9702, 2015, doi: 10.3390/s150509681.
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[8] “What is a Direct Drive motor? - Magnetic Innovations.” https://www.magneticinnovations.com/faq/direct-drive-motor/ (pristupljeno Sep. 14, 2021).
[9] Yedamale Padmaraja, “AN885 Brushless DC (BLDC) Motor Fundamentals,” Microchip Technology Inc.
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[12] STMicroeletronics, “Mainstream Performance line, Arm Cortex-M3 MCU with 64 Kbytes of Flash memory, 72 MHz CPU, motor control, USB and CAN, Datasheet,” no. August, pp. 1–117, 2015, [Online]. Available: https://www.st.com/resource/en/datasheet/stm32f103c8.pdf.
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[17] ATMEL, “AVR449: Sinusoidal driving of 3-phase permanent magnet motor using ATtiny261,” pp. 1–24.
[2] “The Difference Between AGVs And Mobile Robots - CrossCo.” https://www.crossco.com/resources/articles/the-difference-between-agvs-and-mobile-robots/ (pristupljeno Sep. 13, 2021).
[3] S. Pedre, M. Nitsche, F. Pessacg, J. Caccavelli, P. De Cristóforis, “Design of a multi-purpose low-cost mobile robot for research and education,” Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 8717 LNAI, no. August 2015, pp. 185–196, 2014, doi: 10.1007/978-3-319-10401-0_17.
[4] “ROS.org | Powering the world’s robots.” https://www.ros.org/ (pristupljeno Sep. 13, 2021).
[5] T. Wang, Y. Wu, J. Liang, C. Han, J. Chen, Q. Zhao, “Analysis and experimental kinematics of a skid-steering wheeled robot based on a laser scanner sensor,” Sensors (Switzerland), vol. 15, no. 5, pp. 9681–9702, 2015, doi: 10.3390/s150509681.
[6] “Balance Scooter - Zhejiang Yongkang Sportward Enterprises Co., Ltd. - page 1.” https://zjkaids.en.made-in-china.com/product-group/YMExFzIPvgcr/Balance-Scooter-catalog-1.html (pristupljeno Sep. 14, 2021).
[7] “6.5" Hoverboard HubMotor wheel | 3D CAD Model Library | GrabCAD.” https://grabcad.com/library/6-5-hoverboard-hubmotor-wheel-1 (pristupljeno Sep. 14, 2021).
[8] “What is a Direct Drive motor? - Magnetic Innovations.” https://www.magneticinnovations.com/faq/direct-drive-motor/ (pristupljeno Sep. 14, 2021).
[9] Yedamale Padmaraja, “AN885 Brushless DC (BLDC) Motor Fundamentals,” Microchip Technology Inc.
[10] “Telix.” https://www.telix.rs/sr/ (pristupljeno Sep. 14, 2021).
[11] “BSC028N06NS, Infineon Technologies.” https://www.infineon.com/cms/en/product/power/mosfet/n-channel/bsc028n06ns/ (pristupljeno Sep. 17, 2021).
[12] STMicroeletronics, “Mainstream Performance line, Arm Cortex-M3 MCU with 64 Kbytes of Flash memory, 72 MHz CPU, motor control, USB and CAN, Datasheet,” no. August, pp. 1–117, 2015, [Online]. Available: https://www.st.com/resource/en/datasheet/stm32f103c8.pdf.
[13] “INA240 data sheet, Texas Instruments.” https://www.ti.com/product/INA240 (pristupljeno Sep. 18, 2021).
[14] S. Corrigan, “Introduction to the Controller Area Network (CAN) Application Report SLOA101B,” 2002, Pristupljeno: Sep. 15, 2021. [Online]. Available: www.ti.com.
[15] “Teach, Learn, and Make with Raspberry Pi.” https://www.raspberrypi.org/ (pristupljeno Sep. 15, 2021).
[16] B. Akin, M. Bhardwaj, J. Warriner, “Trapezoidal Control of BLDC Motors Using Hall Effect Sensors,” Texas Instruments, 2011.
[17] ATMEL, “AVR449: Sinusoidal driving of 3-phase permanent magnet motor using ATtiny261,” pp. 1–24.
Objavljeno
2021-12-09
Sekcija
Mehatronika
