Návrh a realizace všesměrového podvozku pro výukovou robotickou platformu
Design and Construction of an Omnidirectional Base for Student Robotics Platform
Type of document
diplomová prácemaster thesis
Author
Václav Veselý
Supervisor
Pecka Martin
Opponent
Cmíral Jakub
Study program
Kybernetika a robotikaInstitutions assigning rank
katedra kybernetikyRights
A university thesis is a work protected by the Copyright Act. Extracts, copies and transcripts of the thesis are allowed for personal use only and at one?s own expense. The use of thesis should be in compliance with the Copyright Act http://www.mkcr.cz/assets/autorske-pravo/01-3982006.pdf and the citation ethics http://knihovny.cvut.cz/vychova/vskp.htmlVysokoškolská závěrečná práce je dílo chráněné autorským zákonem. Je možné pořizovat z něj na své náklady a pro svoji osobní potřebu výpisy, opisy a rozmnoženiny. Jeho využití musí být v souladu s autorským zákonem http://www.mkcr.cz/assets/autorske-pravo/01-3982006.pdf a citační etikou http://knihovny.cvut.cz/vychova/vskp.html
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The SRobot is a comprehensive indoor mobile robotic platform, meticulously designed as an educational tool for university students, covering fundamental robotics concepts encompassing both hardware and software aspects. Distinct advantages of the SRobot include its modular design, extended operational lifetime, and innovative capacitive tactile bumper that grants true omnidirectional capabilities. The integration of BLDC motors ensures precision, smoother movement, and energy efficiency. Remarkably cost-effective, the SRobot stands out among comparable options. The construction process is meticulously detailed, providing a replicable guide, including component selection, functionality, and battery management. The PCB design, integrated components, and electronics are thoroughly described, offering a clear assembly blueprint. The firmware section offers insights into STM32 microcontrollers, code upload instructions, robot connection diagrams, BLDC motor control, PID controllers, various interrupts provided by ISR, communication protocols, and protective features. The platform's flexibility with connectors for diverse modules is highlighted. The software section explores ROS packages, topics, messages, the startup sequence, robot model creation, odometry implementation, Gazebo simulation, and RVIZ application, providing a comprehensive understanding of the robot's functionality. The platform's educational suitability is emphasized, showcasing a range of use cases, a dedicated robotics curriculum, and example lessons covering firmware, SLAM algorithms, and more, making the SRobot an ideal educational platform. The conclusion points out the SRobot to be an exemplary indoor mobile robotic platform that effectively fulfills its master's thesis assignment. Its modular design, hardware capabilities, sophisticated firmware, and versatile software make it a valuable educational tool, ready to teach essential robotics concepts to university students. The SRobot is a comprehensive indoor mobile robotic platform, meticulously designed as an educational tool for university students, covering fundamental robotics concepts encompassing both hardware and software aspects. Distinct advantages of the SRobot include its modular design, extended operational lifetime, and innovative capacitive tactile bumper that grants true omnidirectional capabilities. The integration of BLDC motors ensures precision, smoother movement, and energy efficiency. Remarkably cost-effective, the SRobot stands out among comparable options. The construction process is meticulously detailed, providing a replicable guide, including component selection, functionality, and battery management. The PCB design, integrated components, and electronics are thoroughly described, offering a clear assembly blueprint. The firmware section offers insights into STM32 microcontrollers, code upload instructions, robot connection diagrams, BLDC motor control, PID controllers, various interrupts provided by ISR, communication protocols, and protective features. The platform's flexibility with connectors for diverse modules is highlighted. The software section explores ROS packages, topics, messages, the startup sequence, robot model creation, odometry implementation, Gazebo simulation, and RVIZ application, providing a comprehensive understanding of the robot's functionality. The platform's educational suitability is emphasized, showcasing a range of use cases, a dedicated robotics curriculum, and example lessons covering firmware, SLAM algorithms, and more, making the SRobot an ideal educational platform. The conclusion points out the SRobot to be an exemplary indoor mobile robotic platform that effectively fulfills its master's thesis assignment. Its modular design, hardware capabilities, sophisticated firmware, and versatile software make it a valuable educational tool, ready to teach essential robotics concepts to university students.
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- Diplomové práce - 13133 [503]
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