(Đồ án hcmute) design and implementation of omnidirectional mobile robot

MINISTRY OF EDUCATION AND TRAINING HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION PROJECT MECHATRONICS ENGINEERING DESIGN AND IMPLEMENTATION OF OMNIDIRECTIONAL MOBILE ROBOT LECTURER: TRAN VI DO, PH.D STUDENT: NGUYEN DINH THIEN AN SKL010427 Ho Chi Minh City, February 2023 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION PROJECT DESIGN AND IMPLEMENTATION OF OMNIDIRECTIONAL MOBILE ROBOT Author: NGUYỄN ĐÌNH THIÊN ÂN Student ID: 18146005 Major: MECHATRONICS ENGINEERING Advisor: TRẦN VI ĐÔ, PH.D Ho Chi Minh City, February 18th 2023 HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION FACULTY FOR HIGH QUALITY TRAINING GRADUATION PROJECT DESIGN AND IMPLEMENTATION OF OMNIDIRECTIONAL MOBILE ROBOT Author: NGUYỄN ĐÌNH THIÊN ÂN Student ID: 18146005 Major: MECHATRONICS ENGINEERING Advisor: TRẦN VI ĐÔ, PH.D Ho Chi Minh City, February 18th 2023 THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -Ho Chi Minh City, February 10th, 2023 GRADUATION PROJECT ASSIGNMENT Student name: NGUYỄN ĐÌNH THIÊN ÂN Student ID: 18146005 Student name: Student ID: _ Student name: Student ID: _ Major: Mechatronics Engineering Class: 18146CLA3 Advisor: TRẦN VI ĐÔ PH.D Phone number: 0866408284 Date of assignment: _ Date of submission: _ Project title: Design and implementation of Omnidirectional Mobile Robot Initial materials provided by the advisor: _ Content of the project: - Calculation of vehicle kinematics and dynamics - Design a PID controller for precise motion control - Simple path planning for automatic control Final product: - An Omnidirectional Mobile robot - An app on phone to control the robot - A project report and PowerPoint slide - A demo video CHAIR OF THE PROGRAM ADVISOR (Sign with full name) (Sign with full name) i THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -Ho Chi Minh City, February 10th, 2023 ADVISOR’S EVALUATION SHEET Student name: NGUYỄN ĐÌNH THIÊN ÂN Student ID: 18146005 Student name: Student ID: Student name: Student ID: Major: MECHATRONICS ENGINEERING Project title: DESIGN AND IMPLEMENTATION OF OMNIDIRECTIONAL MOBILE ROBOT Advisor: TRẦN VI ĐÔ, PH.D EVALUATION Content of the project: Strengths: Weaknesses: Approval for oral defense? (Approved or denied) Overall evaluation: (Excellent, Good, Fair, Poor) Mark:……………….(in words: ) Ho Chi Minh City, February 10th, 2023 ADVISOR (Sign with full name) ii THE SOCIALIST REPUBLIC OF VIETNAM Independence – Freedom– Happiness -Ho Chi Minh City, February 18th, 2023 EVALUATION SHEET OF DEFENSE COMMITTEE MEMBER Student name: NGUYỄN ĐÌNH THIÊN ÂN Student ID: 18146005 Student name: Student ID: Student name: Student ID: Major: MECHATRONICS ENGINEERING Project title: DESIGN AND IMPLEMENTATION OF OMNIDIRECTIONAL MOBILE ROBOT Name of Defense Committee Member: EVALUATION Content and workload of the project: Strengths: Weaknesses: Overall evaluation: (Excellent, Good, Fair, Poor) Mark:……………….(in words: ) Ho Chi Minh City, February 18th, 2023 COMMITTEE MEMBER (Sign with full name) iii ACKNOWLEDGEMENT Graduation project is the one final subject in to evaluate the students’ ability before entering the professional environment This project helps me to synthesize all the knowledge I have learned in during the last years, at the same time, strengthen my ability to solve problems which could provide lots of advantages in the future The project is considered as the very first work of each student upon graduation, it requires the students to make unremitting efforts and perseverance to overcome difficulties and challenges To be able to complete this project, first, I would like to express my gratitude towards family, those who have been not just material but also mental support, for always encouraging and accompanying me in the most challenging times I would like to offer my special thanks to PhD Trần Vi Đô, for not just giving valuable advice but also for accepting my appeal to become my advisor even though not being a lecturer of the Mechatronics faculty Also, I would express my appreciate to all the teachers who had guide me in any projects I had made And finally, I am particularly grateful to friends at Real Time Robotics Inc., for sharing experience of their own Although spending much effort to finish the project, due to the lack of time and experience, mistakes are inevitable I hope teachers to ignore and guide more so that the topic can be better and more completed iv ABSTRACT Over the past few years, the world has witnessed amazing development in the field of science and technology by transferring most of human resources to machines, especially robots Robots are today’s world icon of modernity, and above all, mobile robots are more referable However, most traditional designs of the mobile robot not allow the robots to perform holonomic movement Thus, omnidirectional mobile robots are introduced with new type of design as well as using unique wheels so that the vehicle can avoid blocking obstacle more comfortably In this project, the author provides some methods to calculate and design of an omnidirectional mobile robot so that it can move and be controlled easily in any directions through a mobile phone v TABLE OF CONTENTS GRADUATION PROJECT ASSIGNMENT i ADVISOR'S EVALUATION SHEET ii EVALUATION SHEET OF DEFENSE COMMITTEE MEMBER iii ACKNOWLEDGEMENT iv ABSTRACT v TABLE OF CONTENTS vi LIST OF FIGURES viii LIST OF TABLES x LIST OF ABBREVIATIONS xi Chapter I OVERVIEW 1.1 Overview of robot 1.2 Overview of mobile robot .2 1.3 Omnidirectional mobile robot overview .4 1.3.1 Omnidirectional wheel 1.3.2 Recent research on omnidirectional mobile robot .6 1.4 Goal of the project Chapter II LITERATURE REVIEW 2.1 Design selection .9 2.2 Kinematics model 11 2.2.1 Kinematics of generalized wheel model .11 2.2.2 Kinematics of 3-omni-wheel mobile robot 15 2.3 Dynamics model 16 2.3.1 Mobile robot dynamics 16 2.3.2 3-wheel omnidirectional mobile robot dynamics 19 Chapter III DESIGN AND COMPONENTS SELECTION 20 3.1 Hardware overview .20 3.2 Mechanical design 21 3.2.1 Omni wheel and motor selection 21 3.2.2 Design robot base 27 3.2.3 Cover design 30 3.3 Electrical system design 34 3.3.1 Microcontroller 34 3.3.2 Bluetooth module 36 3.3.3 Motor driver 38 3.3.4 Power source and DC-to-DC converter .39 3.4 App design .41 vi 3.4.1 Introduction about MIT App Inventor 41 3.4.2 App design on MIT App Inventor 42 Chapter IV CONTROLLING METHODS 43 4.1 Controlling algorithm 43 4.2 PID overview .435 4.3 PID for motor controller 48 Chapter V EXPERIMENT 50 5.1 Assembly model 50 5.2 Experiment .51 5.2.1 Manual control testing 52 5.2.2 Automatic control testing 55 5.2.3 Evaluation on experiment result 558 Chapter VI CONCLUSION 59 6.1 Conclusion .59 6.2 Future improvement 600 REFERENCES 611 APPENDIX 62 vii 𝑢(𝑘) = 𝛼𝑒(𝑘) + 𝛽𝑒(𝑘 − 1) + 𝛾𝑒(𝑘 − 2) ∆ (4.12) In which, 𝑢 (𝑘 ) : current at time k 𝑒 (𝑘 ) : error between reference and measured at time k 𝑒(𝑘 − 1) : error between reference and measured at time k-1 𝑒(𝑘 − 2) : error between reference and measured at time k-2 ∆ : sample time 49 Chapter V EXPERIMENT 5.1 Assembly model Figure 5.1: Assembly model (1) Figure 5.2: Assembly model (2) 50 5.2 Experiment The robot testing speed is 0.3 (m/s) throughout all progresses, which is approximately to 75 RPM for a wheel to move in the same direction From the calculation mentioned in chapter 2, using formula (2.17), assuming that any motions of the robot (exclude from rotation), does not rotate itself, then, the setpoint for each wheel will be (negative is for counterclockwise, while positive is clockwise): Moving Direction Wheel (RPM) Wheel (RPM) Wheel (RPM) 50 -25 -25 90 43 -43 180 -50 25 25 270 -43 43 Table 5.1: Angular velocity setpoint for some motions After testing for quite a time, the PID chosen are Wheel Wheel Wheel Kp 1.2 1.22 1.22 Ki 1.2 1.22 1.22 Kd 0 Table 5.2: PID values chosen The Arduino can only read the value of maximum two decimal numbers after the comma During the testing phase, the author set Kd to 0.01 (smallest value available), the system cannot seem to settle to a value, so in this project, the author eliminates the Kd (= 0), only Kp and Ki count To check the correctness of the algorithm, the author used camera a marker, put it in the center of the robot, through the center holes, so that when the robot is moving, the marker will draw the paths on the floor 51 5.2.1 Manual control testing a) Robot moves 90 degrees forward Time (seconds) Angle deviation (o ) 3.5 Table 5.3: Angle deviation when robot moves forward 60 50 RPM 40 30 20 10 Wheel Wheel Wheel Figure 5.3: PID for 90 degrees forward motion b) Robot moves 270 degrees backward Time (seconds) Angle deviation (o ) 1 1.75 3.5 Table 5.4: Angle deviation when robot moves backward 52 60 50 RPM 40 30 20 10 Wheel Wheel Wheel Figure 5.4: PID for 270 degrees backward motion c) Robot moves degrees to the right Time (seconds) Angle deviation (o ) 3 Table 5.5: Angle deviation when robot moves right 60 50 RPM 40 30 20 10 Wheel Wheel Wheel Figure 5.5: PID for degrees to the right 53 d) Robot moves 180 degrees to the left Time (seconds) Angle deviation (o ) -9 -12.5 -17 Table 5.6: Angle deviation when robot moves left 60 50 RPM 40 30 20 10 Wheel Wheel Wheel Figure 5.6: PID for 180 degrees to the left e) Other diagonal movements Here, the author chooses the angle of 60o, 120o, 240o and 300o Time (seconds) Angle deviation of 60o (o) Angle deviation of 120o Angle Angle deviation deviation of 240o of 300o (o) (o ) (o ) -2 12.5 -0.5 10.5 17 Table 5.7: Angular velocity setpoint for some motions 54 5.2.2 Automatic control testing a) Robot moves in a square path Since the speed is set at 0.3m/s in any direction, to move in a square path, the robot needs to move at angle of 0o, 90o, 180o, 270o respectively The author chose the size of the square path is 900mm x 900mm No Distance between start and end point (mm) Angle deviation between start and end point(o) 43 45 4.2 62 Average 50 5.5 Table 5.8: 900x900 mm square path error 80 RPM 60 40 20 Wheel Wheel Wheel Figure 5.7: PID for square path Here are the errors measured during each phase of operation: No Phase length Phase length Phase length Phase length 863 mm 897 mm 832 mm 922 mm 875 mm 929 mm 871 mm 902 mm 842 mm 901 mm 861 mm 923 mm Average 860 mm 909 mm 854 mm 915 mm Table 5.9: 900x900 mm square path phases’ error 55 b) Robot moves in an equilateral triangle path The robot will move at angle of 0o, 120o, 240o respectively No Distance between start and end point (mm) Angle deviation between start and end point(o) 62 12.5 53 14 67 11 Average 60.67 13.67 Table 5.10: Equilateral triangle path (900 x 900 x 900 mm) error 70 60 50 RPM 40 30 20 10 Wheel Wheel Wheel Figure 5.8: PID for equilateral triangle path Here are the errors measured during each phase of operation: No Phase length Phase length Phase length 872 mm 880 mm 900 mm 891 mm 875 mm 886 mm 888 mm 878 mm 883 mm Average 883 mm 8737 mm 889 mm Table 5.11: 900x900 mm triangle path phases’ error 56 c) Robot moves in a circle path Divide the circle into 24 parts of 15 degrees, the robot will continuously change the speed after each 0.5 second to form a circle No Distance between Angle deviation Diameter measured between start and start and end from center (mm) point (mm) end point (o) 27 12 472 mm 24 12 405 mm 33 15 445 mm Average 28 13 440.7 mm Table 5.12: Circular path (∅900mm) error 60 50 RPM 40 30 20 10 Wheel Wheel Figure 5.9: PID for circular path 57 Wheel 5.2.3 Evaluation on experiment result Due to the fact that while controlling manually, there are errors that make the robot slip away from the desired directions, the automatic operation suffered the error in different stages The difference in time rising may result in translational directions in manual mode, thus, the automatic mode does not form very good shape paths One other reason is that during the changing phases of operation, if there happens to be a changing in direction of rotation of any wheel, the POT then is greater than and also leads to wrong angle of heading 58 Chapter VI CONCLUSION 6.1 Conclusion After doing research and implementing, the author has met the goals set out in the project’s mission: - Project is completed on time - The robot can move freely in any direction without changing it headings - The robot works with both manual and automatic control of simple shape paths provided However, there are still drawbacks: - The power source of robot depends on the 18650 batteries, when the batteries run out and need charging, it is very time consuming to wait to charge the batteries Also, the qualities of the batteries used were not good enough since they are not genuine - Arduino in common can only read at maximum two decimals, which could reduce the accuracy - Controlling with simple PID is not optimized enough that robot cannot fix the angle on the path when there is asynchrony in engines Thus, the error increases as the robot moves further This could be eliminated by using cascade PID 59 6.2 Future improvement Beside of the things needed to be improved in the conclusion part, there are some of the ideas that could be implemented in the near future First, using LiDAR (Light Detection and Ranging) can help the users to generate a map using SLAM (simultaneous localization and mapping) method From here, the vehicle can locate itself in a specific area, thus, avoiding the obstacles or dead ends during working progress with provided algorithms, hence, the owner can trust the robot on its own Second, since the omnidirectional mobile robot can move in any direction, the combination of translational and rotational motion is also a field that can emphasize the holonomic mobility of the device 60 REFERENCES [1] [2] [3] [4] [5] [6] [7] [8] [9] [10] [11] [12] Definition of robots www.britannica.com/technology/robot-technology Western Robot launches Robots to combat Covid-19 www.westonrobot.com/news-weston-robot-covid19-disinfection-temperaturescreening-robots AGEMA unmanned ground vehicle (UGV) milaniongroup.com/agema-ugv/ Boston Dynamics’ Atlas robot in 2016 robots.ieee.org/robots/atlas2016/ Kinematics modeling of wheeled mobile robots (Muir Patrick, 1986) www.ri.cmu.edu/pub_files/pub3/muir_patrick_1986_1/muir_patrick_1986_1.pdf Design and construction of continuous alternate wheels for an OMR (Kyung-Seok Byun - Jae-Bok Song, 2003) onlinelibrary.wiley.com/doi/10.1002/rob.10107 J Grabowiecki vehicle wheel (1919) patentimages.storage.googleapis.com/44/95/77/7e5bf9837c0989/US1305535.pdf Wheels for a course stable self-propelling vehicle movable in any desired direction on the ground or some other base (Bengt Erland Ilon, 1972) patentimages.storage.googleapis.com/e1/b0/be/4c014fa5a47968/US3876255.pdf An Omnidirectional Wheelchair (Jaffe et al., 1981) link.springer.com/article/10.1007/BF00992877 GoliathCNC–An Autonomous Robotic Machine tool for makers (2022) www.kickstarter.com/projects/2130625347 Design of an omnidirectional robot for FIRA Robosot (Naveen Suresh Kuppuswamy et al., 2007) rit.kaist.ac.kr/wp-content/uploads/2021/07/DESIGN-OF-ANOMNIDIRECTIONAL-ROBOT-FOR-FIRA-ROBOSOT.pdf Ly thuyet dieu khien tu dong (Nguyen Thi Ha Phuong, Huynh Thai Hoang, 2005, page 296) 61 APPENDIX 62 S K L 0