SRobot

SRobot is an omnidirectional mobile robotic platform meticulously designed as an educational aid for university students. Developed as part of a master’s thesis, SRobot transforms abstract robotics concepts into tangible, hands-on experiences. By integrating hardware and software lessons, it aims to make learning robotics more engaging, practical, and accessible.

The platform features a modular design, making it easy to assemble and maintain. Its innovative components include BLDC motors for smooth and efficient movement and a capacitive tactile bumper for omnidirectional navigation. The robotic platform offers a wide range of learning opportunities, from kinematics to advanced software applications.

SRobot is built around the Robot Operating System (ROS), providing students with a gateway to real-world robotics frameworks. Lessons range from firmware development to implementing SLAM algorithms, ensuring a comprehensive understanding of robotics principles. Its open-source approach enables extensive customization, allowing students to experiment and innovate.

By connecting theory to practice, SRobot empowers university students to solve complex problems and gain skills for future careers. It represents a leap forward in educational tools, turning challenges into opportunities for learning and growth.

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Abstract

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.

Keywords:

SRobot, Indoor mobile robotic platform, Omnidirectional robot, Modular design, Capacitive tactile bumper, BLDC motors, STM32, Field-oriented control, Interrupt service routine, Touch Sensing Controller, LiDAR, ROS packages, Gazebo simulation, SLAM algorithms, Educational robotic platform, Kinematics and dynamics of omnidirectional robots