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Abstract(s)
Neste documento descreve-se o projeto desenvolvido na unidade curricular de Tese e Dissertação (TEDI) durante o 2º ano do Mestrado de Engenharia Eletrotécnica e de Computadores (MEEC) no ramo de Automação e Sistemas, no Departamento de Engenharia Eletrotécnica (DEE) do Instituto Superior de Engenharia do Porto (ISEP), resultado de um estágio em parceria com a empresa Follow Inspiration.
Nos dias de hoje, a presença de sistemas robóticos no nosso quotidiano começa a ser uma prática usual, os quais são capazes de auxiliar o ser humano nas mais diversificadas tarefas. Neste seguimento, a Follow Inspiration desenvolve, entre outros, soluções robóticas móveis autónomas (wiiGO) que interagem com o utilizador, prestando-lhe auxílio nas suas tarefas.
Desta forma, o principal objetivo desta dissertação está relacionado com o desenvolvimento de uma plataforma omnidirecional, com possível aplicação ao wiiGO e/ou a outros sistemas. Do desenrolar do projeto foram desenvolvidas duas plataformas omnidirecionais, com configurações diferentes (quatro rodas mecanum e quatro rodas universais), nas quais foi elaborado o devido controlo dos motores assim como foi desenvolvido software que permite a estimação do seu deslocamento e posição ao longo do tempo, entre outros.
Nesta dissertação estão documentadas todas escolhas ao nível de hardware, assim como todo o software desenvolvido que, em conjunto, conferem mobilidade omnidirecional às plataformas.
This dissertation reports the project developed in the Thesis/Dissertation course during the 2nd year of the Master of Electrical and Computer Engineering in the field of Automation and Systems, Department of Electrical Engineering of the Instituto Superior de Engenharia do Porto, result of a internship in partnership with the company Follow Inspiration. Nowadays, the presence of robotic systems in our daily life begins to be na usual practice, which are able to assist the human being in the most diversified tasks. In this sequence, Follow Inspiration develops, among others, autonomous mobile robotic solutions (wiiGO), that interact with the user, assisting him in his tasks. So, the main goal of this dissertation is related with the development of na omnidirectional platform, for possible application in wiiGO and/or other systems. During the project two omnidirectional platforms with different configurations were developed (four mecanum wheels and four universal wheels) in which were made the proper control of motors as well as was developed software that allow estimate the displacement and position over time, among others. In this dissertation all hardware-level choices are documented and the developed software that together confer omnidirectional mobility to the platforms.
This dissertation reports the project developed in the Thesis/Dissertation course during the 2nd year of the Master of Electrical and Computer Engineering in the field of Automation and Systems, Department of Electrical Engineering of the Instituto Superior de Engenharia do Porto, result of a internship in partnership with the company Follow Inspiration. Nowadays, the presence of robotic systems in our daily life begins to be na usual practice, which are able to assist the human being in the most diversified tasks. In this sequence, Follow Inspiration develops, among others, autonomous mobile robotic solutions (wiiGO), that interact with the user, assisting him in his tasks. So, the main goal of this dissertation is related with the development of na omnidirectional platform, for possible application in wiiGO and/or other systems. During the project two omnidirectional platforms with different configurations were developed (four mecanum wheels and four universal wheels) in which were made the proper control of motors as well as was developed software that allow estimate the displacement and position over time, among others. In this dissertation all hardware-level choices are documented and the developed software that together confer omnidirectional mobility to the platforms.
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Keywords
Robótica Móvel Mobilidade Omnidirecional Controlo de Motores ROS Odometria Mobile Robotics Omnidirectional Mobilty Motors Control Odometry