MBSE-2022-1/Firmware-Team Documentation

MEMBERS

  1. Nattapat Jatuwong 63340500011 (Mobile Robot)

  2. Paphada Prasongsuk 63340500033 (Gripper)

  3. Sorapas Weerakul 63340500064 (Mobile Robot)

RoboCup@Home Requirement

SAFE NAVIGATION (indoors, with obstacle avoidance)

Mobile Robot Requirement

  • The robot must automatically move to the position specified by the user

    • Firmware system must calculate the current robot’s pose for navigation

      • Pose is calculated using wheel odometry from the robot twist

    • The robot must move at a safe speed for its surroundings

      • The robot must move at a linear velocity no more than 0.1335 m/s

    • The robot must have a manual control for quick setup and repositioning

      • Users must control the robot with Teleop twist keyboard on ROS2.

    • Firmware system must be able to interface between ROS2

      • ROS2 must send a velocity command to make the robot move at a desired speed

      • The microcontroller must be able to send the robot’s pose and imu raw data to ROS2

      • Communication between devices must be implemented with a frequency greater than or equal to 20 Hz

Gripper Requirement

  • The gripper must be able to pick up items without dropping them and the user can control the opening/closing of the gripper

    • Firmware system must apply the gripper’s force to properly pick up objects

      • Use a sensor such as present load from DYNAMIXEL to measure the force used to pick up objects

    • Firmware system must be able to interface between ROS2

      • ROS2 must command the gripper to pick up or release an object

System Architecture