Project:HSRDP

HSRDP - Hackspace Robotics Development Platform

The arm

HSRDP is an attempt to provide a robotics platform for the hackspace to allow people to experiment with higher level robotics functions.

The base

The plan is to sit our UMI robot arm on top of the mobility aid scooter. Plug it all into ROS with some sensors and allow people to make their own nodes for high level functions

It's part of the hackspace and collaborators are welcome, please get in-touch with Mentar (IRC) to find out what you can help. It's a great learning exercise for:

• the stuff that's required to get [Project:UMI_RTX_Robot_arm|robot arm]] working
• Robotics (more higher level stuff!)
• ROS (point clouds, sensing, planning)
• arduino
• motor control
• battery management

Link to random photos from the ongoing project

Status

• Currently trying to replace the Robot arm control board with an arduino mega and 5 h-bridges (waiting for delivery)

People involved

This is a hackspace project and members are encouraged to participate

Person

What is being done

Mentar, Tmlyk, pepelisu	Getting the robot arm functional
Mentar	Motor control
hipster	Trimming the wheeled chassis, attaching steering motor and power electronics

TODO

• Get the robot arm working
• Prepare the wheeled chassis for the mounting of the robot arm
• Figure out the battery and power distribution for the chassis and the robot arm.(no obvious charging socket)
• Source a 24v battery
• Make a ROS URDF model for the robot.
• Add a kinect + other sensors
• Repaint/beautify the thing

Example uses

• Robotic buttler - Show people around the space, bring club-mate etc
• Robotic bartender - Party/event mode configuration, mix up drinks (this one is quite challenging)
• Telepresense - Self evident uses

System diagram

<graphviz border='frame' format='png' >

digraph rfboard{
  rankdir=TD;
  size="10,5!";
  
  arduino [label="Arm control board",shape=box];
  kinect [label="Kintect",shape=box];
  pi [label="Raspberry pi",shape=box];
  chassis_control [label="Chassis control",shape=box];
  chassis [label="Wheeled Chassis",shape=box];
  robot_arm [label="Robot Arm",shape=box];
  steering [label="Steering motor",shape=box];

  kinect -> pi;
  pi -> arduino;
  arduino -> robot_arm;
  pi -> chassis_control;
  chassis_control -> chassis;
  chassis_control -> steering;

} </graphviz>