Implementation

Implementation Overview

In this project, we used a turtlebot on which the motors, IMU, and 3D printed arms are mounted to pick up trash during the path planning algorithm is implemented. We used a cardboard box as our map to reduce the frictional effect between the turtlebot and the carpet in the lab (Cory 105).

Step 1: Simulation on Turtlesim

We started by using simulation on Turtlesim to path plan the robot. In this case, we have a moving turtle representing our robot and three other stationary turtles representing the trash. This algorithm is then applied to the real scenario for the later part of the project.

我的影片 8.mp4

Step 2: Hardware Design and Assembly

Next, we proceeded to work on the hardware part. It includes: 3D printed scooper, arm, IMU, and stepper motors with the Raspberry Pi. They are integrated together and mounted on the turtlebot. The arms and the scooper are properly designed to be mounted properly on the fixed-sized turtlebot.

[Customized Turtlebot arm]

[Customized Turtlebot scooper]

Step 3: IMU Reading

In addition, we attached the imu sensor to the turtlebot and connected it to the PCB board. Thus, we were able to collect the acceleration readings from the turtle's movement.

[Acceleration values when object is motionless]

[Acceleration values when object is moving]

Step 4: Integration

In the final step, we integrated the software, algorithm, and hardware parts into a single system that can path plan and pick up objects at the target. From the video, we can start/pause the stepper motor based on the movement of the IMU.

我的影片 9.mp4

[Combination of IMU + Stepper Motor]

Page updated

Report abuse