Putting robotics at your service™

Free shipping on orders over $75

My first robot.

Print view Share :
Previous topicNext topic

Page 1 of 4 [ 47 posts ]

1, 2, 3, 4
Rookie ( offline )
Posts: 36
Posted: 2017-11-25 20:43 
 Post subject: My first robot.
Hi All.
I'm building my first robot. I have basic knowledge of programming and no previous experience with ROS or linux.
I will publish during the construction of the robot.

I'm a week into the construction and learning on the way.


Let's start by the hardware:
  • Jetson TX2
  • Sweep Scanner
  • Roboclaw ST 2X45A
  • Realsense ZR300
  • 2x DC Planetary Geared Motor 24 Volt with Hall IC 30-33 RPM 8mm
  • 2x Vapex Li-Po Battery 6S 22.2V 4000mAh 25C XT60-Contact
  • Reach RTK kit.
  • USB 3.0 hub 7-way power supply.
  • SparkFun 9DoF Razor IMU
  • SONY Dualshock 4.
I have not really decided which wheels to use. so I'll start with some temporary D175mm. The chassis will also be a temporary chassis until all parts and the robots works as expected.

The Jetson
Attachment:
IMG_1051.jpg
IMG_1051.jpg [ 784.33 KiB | Viewed 536 times ]


ZR300 and Sweep
Attachment:
IMG_1052.jpg
IMG_1052.jpg [ 574.01 KiB | Viewed 536 times ]

First connection of motors and motor controller, did not work as expected. Had trouble getting encoders to work due to excessive noise.
Attachment:
IMG_1050.jpg
IMG_1050.jpg [ 710.96 KiB | Viewed 536 times ]


Second connection of motors and motor controller with pull up resistors, encoders now work (All settings checked via Ion Motion Control). I will make this install a bit nicer
Attachment:
IMG_1065.jpg
IMG_1065.jpg [ 776.76 KiB | Viewed 536 times ]
Getting Roboclaw to run on the Jetson @ubuntu 16.04 via USB. The Roboclaw is connected as ttyACM. I needed to build kernel and add the ttyACM module. I also added the Roboclaw in
99-usb-serial.rules so it always can be found as /dev/roboclaw.
Then I paired the DS4 over BT and installed package joy_teleop and it all worked :-)

Attachment:
IMG_1066.jpg
IMG_1066.jpg [ 813.88 KiB | Viewed 536 times ]


A very temporary chassis & wheels for a test drive test.
Attachment:
IMG_1114.jpg
IMG_1114.jpg [ 669.3 KiB | Viewed 536 times ]


I have started to make a temporary URDF, to use for the temporary chassis. I will not spend a lot of time on the design before i know the exact dimensions for the build.

Attachment:
53329651335__8BBE3E5B-5095-468E-9F6C-4CEA933E969F.JPG
53329651335__8BBE3E5B-5095-468E-9F6C-4CEA933E969F.JPG [ 854.57 KiB | Viewed 536 times ]



That's my progress this week.
I welcome your tips.
To be continued.

_________________
Follow my build blog here http://valify.se


User avatar
Expert ( offline )
Posts: 834
Posted: 2017-11-27 17:47 
 Post subject: Re: My first robot.
Hi Raess,

Wow, really nice project you started working on Thank you for posting it on RobotShop's forum.
Are you planning to use the robot for object/face recognition using the Realsense ZR300 ?
You can take a look on our Wheeled & Tracked Robots category for a nice chassis for your robot.
We would certainly want to hear more about your project. Please, don't hesitate to post your progress here.

_________________
Brahim Daouas, B. Eng
Robotics Specialist - Electronic

RobotShop inc.
Putting Robotics at your service!™
www.robotshop.com

Lynxmotion
Imagine it. Build it. Control it.™
http://www.Lynxmotion.com


Rookie ( offline )
Posts: 36
Posted: 2017-11-27 18:08 
 Post subject: Re: My first robot.
Thanks bdaouas,
It's actually going to be a robot lawnmower. Using the ZR300 for mapping and object recognition.
Thanks for the tips for the chassis. but I will make a custom base plate with CNC which is more suited to my final robot.

Update.
Today I have been working on the IMU. I am using the Razor 9dof m0, but immediately I encountered problems.
On my mac everything seems to work fine.
Code:
screen /dev/cu.usbmodem11 115200
outputs the serial read nice.

On both my linux machines ubuntu 16.04 & ubuntu 14.04
Code:
screen /dev/ttyACM0 115200
outputs nothing. it just waits.

I have tried to add
Code:
usermod -a -G dailout rf
and
Code:
chmod 666 /dev/ttyACM0


any suggestions on how to solve this?

_________________
Follow my build blog here http://valify.se


Rookie ( offline )
Posts: 36
Posted: 2017-11-28 06:17 
 Post subject: Re: My first robot.
Got the IMU working. Problem is that is does not autostart when plugged in to the Jetson. Does anyone know how to start serial output without having to press space?
Attachment:
IMG_1146.jpg
IMG_1146.jpg [ 744.32 KiB | Viewed 490 times ]

_________________
Follow my build blog here http://valify.se


User avatar
Expert ( offline )
Posts: 834
Posted: 2017-11-28 11:39 
 Post subject: Re: My first robot.
Hi Raess,

Seeing the default firmware loaded on the 9 Degrees of Freedom - Razor M0 IMU, the "Space" key seems to pause/resume the serial port printing.
Maybe you can modify the firmware code and upload it to your Razor Board

_________________
Brahim Daouas, B. Eng
Robotics Specialist - Electronic

RobotShop inc.
Putting Robotics at your service!™
www.robotshop.com

Lynxmotion
Imagine it. Build it. Control it.™
http://www.Lynxmotion.com


Rookie ( offline )
Posts: 36
Posted: 2017-11-28 16:14 
 Post subject: Re: My first robot.
Thanks bdaouas,
I solved it. all good :)

_________________
Follow my build blog here http://valify.se


Rookie ( offline )
Posts: 36
Posted: 2017-11-29 06:02 
 Post subject: Re: My first robot.
Last night I worked on power harness, did some basic soldering.
Attachment:
IMG_1151.jpg
IMG_1151.jpg [ 812.28 KiB | Viewed 472 times ]

Also received my Reach RTK.
Did a quick test run (indoors) so the satellite reception was not that good. But it seemed to work fine.

Attachment:
IMG_1148.jpg
IMG_1148.jpg [ 689.67 KiB | Viewed 472 times ]


Attachment:
IMG_1150.jpg
IMG_1150.jpg [ 858.86 KiB | Viewed 472 times ]


Rosnode is running.
Attachment:
IMG_1149.jpg
IMG_1149.jpg [ 815.82 KiB | Viewed 472 times ]


Continue to experimenting with this later :)

_________________
Follow my build blog here http://valify.se


Rookie ( offline )
Posts: 36
Posted: 2017-12-09 01:42 
 Post subject: Re: My first robot.
@bdaouas

What key hub fits this wheels:
https://www.robotshop.com/eu/en/8in-aluminum-omni-wheel.html

And why do you only sell the left wheel on this:
https://www.robotshop.com/eu/en/203mm-steel-mecanum-wheel-rubber-rollers-left.html


Thanks!

_________________
Follow my build blog here http://valify.se


Rookie ( offline )
Posts: 36
Posted: 2017-12-10 15:28 
 Post subject: Re: My first robot.
I decided to do a better temporary chassis. Since the old only wood was to unstable.

Attachment:
IMG_1193.jpg
IMG_1193.jpg [ 952.26 KiB | Viewed 425 times ]



Attachment:
IMG_1194.jpg
IMG_1194.jpg [ 762.61 KiB | Viewed 425 times ]


Attachment:
IMG_1196.jpg
IMG_1196.jpg [ 744.92 KiB | Viewed 425 times ]

_________________
Follow my build blog here http://valify.se


User avatar
Expert ( offline )
Posts: 834
Posted: 2017-12-11 11:19 
 Post subject: Re: My first robot.
Hi Raess,
  1. You can use the 500 Key Hub with the 8" Aluminum Omni Wheel. You will also need the Hardware Kit 7 : Hub Mount to 8" Aluminum Omni Wheel (screws and nuts) to mount the hub to the wheel. We just entered this mounting kit to our catalog and will be soon available on the website under the product code : RB-And-245.
  2. The Right 203mm Steel Mecanum Wheel has been discontinued. The 203mm Steel Mecanum Wheel w/ Rubber Rollers (Left) will also be discontinued. We do offer the 203mm Steel Mecanum Wheel w/ Rubber Rollers (2xLeft, 2xRight) which is a set of 4 wheels or the 152mm Mecanum Wheel Set (2x Left, 2x Right)

_________________
Brahim Daouas, B. Eng
Robotics Specialist - Electronic

RobotShop inc.
Putting Robotics at your service!™
www.robotshop.com

Lynxmotion
Imagine it. Build it. Control it.™
http://www.Lynxmotion.com


Rookie ( offline )
Posts: 36
Posted: 2018-02-09 02:35 
 Post subject: Re: My first robot.
So the project is mowing forward. I have just made the first concept model and is now printing it in real size around 700mm long.

Attachment:
SIDE.jpg
SIDE.jpg [ 151.37 KiB | Viewed 306 times ]

Attachment:
top.jpg
top.jpg [ 170.39 KiB | Viewed 306 times ]

Attachment:
cha.jpg
cha.jpg [ 114.53 KiB | Viewed 306 times ]

Attachment:
cutting back.jpg
cutting back.jpg [ 149.15 KiB | Viewed 306 times ]

Attachment:
cutting side.jpg
cutting side.jpg [ 116.85 KiB | Viewed 306 times ]

_________________
Follow my build blog here http://valify.se


User avatar
Expert ( offline )
Posts: 834
Posted: 2018-02-12 10:09 
 Post subject: Re: My first robot.
Hi Raess,

Very nice design. Well done
Will you 3D print the shell for a prototype ?

_________________
Brahim Daouas, B. Eng
Robotics Specialist - Electronic

RobotShop inc.
Putting Robotics at your service!™
www.robotshop.com

Lynxmotion
Imagine it. Build it. Control it.™
http://www.Lynxmotion.com


Rookie ( offline )
Posts: 36
Posted: 2018-02-21 11:36 
 Post subject: Re: My first robot.
Thanks Bdaouas! Yes Prototype will be 3D-printed in my Raise3D N2+.
So after printing some parts for Valify I realized, first of all, it looked like any lawnmower out there. So I had to go back to the drawing board and start from scratch. I wanted a unique look that looked fresh and futuristic. I also took some experience from the previous one and made improvements. This is Valify V2.
Attachment:
516a43a698c1c590a08fdbe16cdda612_preview_featured.jpg
516a43a698c1c590a08fdbe16cdda612_preview_featured.jpg [ 74.49 KiB | Viewed 258 times ]


Attachment:
eb2d2d4d824dd78c73e5a28f0f378c39_preview_featured.jpg
eb2d2d4d824dd78c73e5a28f0f378c39_preview_featured.jpg [ 68.35 KiB | Viewed 258 times ]



Bdaouas I am looking for 3 small powerfull brushed motors with 3000-5000rpm for the cutting blades. Do you have any suggestions?



My build blog is found here: http://valify.se

_________________
Follow my build blog here http://valify.se


Rookie ( offline )
Posts: 36
Posted: 2018-02-22 10:39 
 Post subject: Re: My first robot.
Btw:If somebody wants it, all parts are available on thingiverse
This thing is still a Work in Progress. Files, instructions, and other stuff might change!

_________________
Follow my build blog here http://valify.se


User avatar
Expert ( offline )
Posts: 834
Posted: 2018-02-22 11:24 
 Post subject: Re: My first robot.
Here is a link to our Brushed DC Motors category .
Is there a reason why you have chosen to use a brushed motor as mowing motor instead of brusheless ?
We have tested a brushed dc motor (the RB-Ban-228) in our Robokut project (that you can find here in LMR) and the motor got really hot very fast when mowing grass and it wasn't efficient for cutting.
We have replaced it with a brusheless motor similar to the Outrunner Sunshine Brushless Rotor Motor 880KV 16.8A with nylon trimmer cord which worked quite nicely.

_________________
Brahim Daouas, B. Eng
Robotics Specialist - Electronic

RobotShop inc.
Putting Robotics at your service!™
www.robotshop.com

Lynxmotion
Imagine it. Build it. Control it.™
http://www.Lynxmotion.com


1, 2, 3, 4

All times are UTC - 5 hours [ DST ]. It is currently 2018-04-21 07:11