The composition of the robot system
What is a robot?
Robots are not all humanoid machines.
How is the robot composed?
Only by knowing the composition of the robot can we know how to make a robot. Know what tasks each module needs to do.
1. From the perspective of control: actuators, drive systems, perception systems, and control systems.
Internal sensing system: where the robot is, speed sensing, acceleration sensing.
External sensors: camera, lidar, gps... (For most external sensors in Ros, there is a built-in drive function package)
Control system: the human brain coordinates the organic execution of various parts. Raspberry Pi, Mini PC,
actuator: wheels, steering gear, DC motor, stepper motor...
Drive system: STM32 drive board (including ultrasonic, odometer/encoder, IMU...)
Mobile robot development case-service category
A very important function package-move_base
slam, navigation, amcl
move_base is a function package used to complete the path planning of the mobile robot, which plays an important role in navigation.
Three parts: the white part (Ros has provided, no need to pay attention, the lowest priority), the gray part (Ros is optional, you can pay attention, the priority is medium), the blue part (focus on, the highest priority)
TurtleBot3 robot case:
OpenCR: Drive board, equivalent to STM32
DYNAMIXEL drive motor
Sprocket Wheels for Tire, equivalent to H-bridge chip
Robotic arm development case (moveIt)——Industrial
PS: Robotic arm has 6 joints, respectively connected to 6 drives in the control cabinet (industrial computer size)