Thursday, 3 October 2013


The improved base is now fitted and working well the rear castors will need to be replace as they don't turn freely. After generating a new map, Navigation works but I haven't tuned it yet out of the box localization is within 200mm after a 10meter loop
with a couple of loops. Encouraged by this I made a launch file to start all the systems
on Robbie with the plan to do a endurance test in the near future something involving a roving patrol and charging the batteries when required. Driving Robbie
around the lounge room and kitchen there is only 10 cm of gap between the walls
and the shoulders. Instead of controlling the motors using a RPM method I now use
distance per timing frame the main advantage is both wheels move the same distance making it easier for navigation. In the video Robbie is driving under remote control I need to work on the movie making skills. The next step is navigation runs.
After repeated test of the arm the original part are staring to fail some due to problems I had when I first started printing (poor quality ) and other while adjusting the new motors the plastic parts tend to break when the joint PID controller oscillates or travels too far to fast.

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