diff options
| -rw-r--r-- | Dockerfile | 12 | ||||
| -rw-r--r-- | next-env.d.ts | 4 | ||||
| -rw-r--r-- | package-lock.json | 4683 | ||||
| -rw-r--r-- | package.json | 10 | ||||
| -rw-r--r-- | posts/building-the-a1/main.md | 144 | ||||
| -rw-r--r-- | posts/building-the-a1/meta.json | 4 | ||||
| -rw-r--r-- | public/img/robot.png | bin | 0 -> 200455 bytes | |||
| -rw-r--r-- | public/img/robot_labeled.png | bin | 0 -> 416281 bytes | |||
| -rw-r--r-- | utils/Posts.tsx | 3 |
9 files changed, 566 insertions, 4294 deletions
diff --git a/Dockerfile b/Dockerfile new file mode 100644 index 0000000..2efe458 --- /dev/null +++ b/Dockerfile @@ -0,0 +1,12 @@ +FROM node:current + +WORKDIR /src + +COPY . ./ + +RUN rm -rf ./node_modules ./.next + +RUN npm install +RUN npm run build + +CMD ["npm", "run", "start"] diff --git a/next-env.d.ts b/next-env.d.ts index c6643fd..4f11a03 100644 --- a/next-env.d.ts +++ b/next-env.d.ts @@ -1,3 +1,5 @@ /// <reference types="next" /> -/// <reference types="next/types/global" /> /// <reference types="next/image-types/global" /> + +// NOTE: This file should not be edited +// see https://nextjs.org/docs/basic-features/typescript for more information. diff --git a/package-lock.json b/package-lock.json index 973e6a0..9fc7afc 100644 --- a/package-lock.json +++ b/package-lock.json @@ -12,64 +12,17 @@ "clsx": "^1.1.1", "highlight.js": "^11.1.0", "html-loader": "^2.1.2", - "markdown-loader": "^6.0.0", - "marked": "^0.7.0", - "next": "11.0.1", + "markdown-loader": "^8.0.0", + "marked": "^4.0.16", + "next": "^12.1.6", "react": "17.0.2", "react-dom": "17.0.2", "sass": "^1.35.2" }, "devDependencies": { "@types/marked": "^2.0.4", - "@types/react": "^17.0.14", - "typescript": "4.3.5" - } - }, - "node_modules/@babel/code-frame": { - "version": "7.12.11", - "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.12.11.tgz", - "integrity": "sha512-Zt1yodBx1UcyiePMSkWnU4hPqhwq7hGi2nFL1LeA3EUl+q2LQx16MISgJ0+z7dnmgvP9QtIleuETGOiOH1RcIw==", - "dependencies": { - "@babel/highlight": "^7.10.4" - } - }, - "node_modules/@babel/helper-validator-identifier": { - "version": "7.16.7", - "resolved": "https://registry.npmjs.org/@babel/helper-validator-identifier/-/helper-validator-identifier-7.16.7.tgz", - "integrity": "sha512-hsEnFemeiW4D08A5gUAZxLBTXpZ39P+a+DGDsHw1yxqyQ/jzFEnxf5uTEGp+3bzAbNOxU1paTgYS4ECU/IgfDw==", - "engines": { - "node": ">=6.9.0" - } - }, - "node_modules/@babel/highlight": { - "version": "7.17.12", - "resolved": "https://registry.npmjs.org/@babel/highlight/-/highlight-7.17.12.tgz", - "integrity": "sha512-7yykMVF3hfZY2jsHZEEgLc+3x4o1O+fYyULu11GynEUQNwB6lua+IIQn1FiJxNucd5UlyJryrwsOh8PL9Sn8Qg==", - "dependencies": { - "@babel/helper-validator-identifier": "^7.16.7", - "chalk": "^2.0.0", - "js-tokens": "^4.0.0" - }, - "engines": { - "node": ">=6.9.0" - } - }, - "node_modules/@babel/runtime": { - "version": "7.12.5", - "resolved": "https://registry.npmjs.org/@babel/runtime/-/runtime-7.12.5.tgz", - "integrity": "sha512-plcc+hbExy3McchJCEQG3knOsuh3HH+Prx1P6cLIkET/0dLuQDEnrT+s27Axgc9bqfsmNUNHfscgMUdBpC9xfg==", - "dependencies": { - "regenerator-runtime": "^0.13.4" - } - }, - "node_modules/@babel/types": { - "version": "7.8.3", - "resolved": "https://registry.npmjs.org/@babel/types/-/types-7.8.3.tgz", - "integrity": "sha512-jBD+G8+LWpMBBWvVcdr4QysjUE4mU/syrhN17o1u3gx0/WzJB1kwiVZAXRtWbsIPOwW8pF/YJV5+nmetPzepXg==", - "dependencies": { - "esutils": "^2.0.2", - "lodash": "^4.17.13", - "to-fast-properties": "^2.0.0" + "@types/react": "^17.0.45", + "typescript": "^4.7.2" } }, "node_modules/@fontsource/inconsolata": { @@ -77,147 +30,189 @@ "resolved": "https://registry.npmjs.org/@fontsource/inconsolata/-/inconsolata-4.5.6.tgz", "integrity": "sha512-aZH9zF9iEI6xS1xnYg7IKcGpkYRxAEiKc1239Dqdij488TDtI7uwdPSafgBFvVcbdLaIpYQdeBxrxxZH5ntemA==" }, - 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I intend to eventually use this platform for +testing sensor fusion, localization, and mapping techniques. Initially, +I built a platform to accomplish a simpler goal; to navigate along a +user selected path. + +## System Design + + + +### Motor Selection and Mounting + +The robot was designed to navigate through an indoors environment at a +speed of 40 cm/s which seemed reasonable. I was also concerned with +selecting motors to achieve a smooth drive, especially when navigating +over high friction surfaces like carpet. I searched for motors which +could sustain around half a newton of force tangent to the wheel +continuously. Often, one would consider continuous rotation servos in +this case since they provide a gear motor with built-in closed-loop +control. Continuous rotation servos which operate in this range can be +quite expensive so I opted for a 110 rpm 5 kg cm DC gear motor. The +motor came with a quadrature encoder that I used to provide feedback for +a closed-loop control algorithm. + +To mount the motor to the drive base, I created two mounting plates +with a motor cage. This cage mounted to the bottom of the base plate +with M3 screws. I also attached a passive caster to the base plate +through a 3D printed offset. The base plate was made of 2 mm +polycarbonate. + +### Electronics + +To control the motors, I ended up using two Arduino Nanos because each +motor requires two interrupt pins for each quadrature signal. A single +Arduino Mega could be used to trigger interrupts but I had Arduino Nanos +on hand. The Nanos interfaced with a TB6612FNG H-Bridge to provide speed +control from a 12 V supply. A RPi 3B+ was used to perform the path +calculations. The Nanos only have 2.5 kB of SRAM so the paths are stored +on the RPi and fed over the I2C bus. Or at least, that was the idea. The +current version stores the paths in flash. More on that later. + +To power the robot, I used a three cell LiPo battery. This was +connected to a BMS which provided over current and over discharge +protection. The BMS output distributed power to each motor and a 5V +buck-boost converter. Each was protected by a fuse. + +## Control Algorithms + +The motion pipeline are composed of three stages: + +1. Trajectories are generated on the RPi. These are provided to the + motor controllers over the I2C bus. +2. The encoder signals are decoded and the position estimation is + updated. +3. The trajectory and current motor position are used to calculate the + input voltage for the motors. + +### Trajectory Generation + +The paths are specified parametrically in the form `<x(k), y(k)>` +This is transformed into a trajectory `<x(t), y(t)>` by time +parametrizing it. This is a non-trivial problem since the rotational and +forward velocities of a differential robot are intertwined: if motors +are operating at their maximum velocity, an increase in the rotational +velocity requires a decrease in the forward velocity. To plan a +trajectory along a path, the maximum forward (tangent) velocity was +calculated at each position `k` along the tangent path. This velocity +limit varies with the curvature; the higher the curvature, the slower +the robot can navigate along the path. Numerically, the forward velocity +limit imposed by a single wheel (left or right) is proportional to the +derivative of the tangent arc length with respect to the wheel arc +length where the constant of proportionality is the max motor velocity. +This provides a ceiling on the tangent velocity. The initial and final +velocities along the path are known. This same process can be used to +bound acceleration. The exact forward velocity transitions can be +determined by a motion profile tuned to stay within the boundaries of +these constraints. In my case, I used a simple trapezoidal profile. The +tangent velocity function can be used to identify the position +trajectories of each wheel. (In terms of path length.) These wheel +position trajectories were fed to each motor controller. + +### Encoder Feedback + +In order to provide accurate motion control, the system monitors the +position of the motor and uses this information to make more informed +estimates of the input voltage required to reach the target position. +Quadrature encoders emit square waves on two channels A and B. +Transitions in the signals A and B encode changes in the motor +position. For instance, when A transitions from low to high while B is +low, this indicates that the motor has moved one section of an arc in +the forward direction. If B made the transition before A, the encoder +would move in the opposite direction. To decode the signal, the +algorithm keeps a running tally of the number of arcs recorded. Each +signal state is encoded in two bits. Following each state transition, +the two bits representing the prior state and the two bits representing +the current state query a lookup table containing the eight possible +states. The counter is incremented or decremented according to the table +entry. This maintains an accurate record of the encoder position. I\'ve +seen similar techniques in use elsewhere. In my case, this routine was +triggered by a hardware interrupt. Triggering on interrupts ensures the +algorithm doesn't miss a state transition while carrying out other +control tasks. + +### Position Control + +Armed with the trajectories, each motor controller was tasked with +providing the correct input voltages to reach the designated positions. +To accomplish this, it used feed forward motion control. Using this +technique, the algorithm makes a crude initial guess at the input +voltage. Then, it uses the known position, as obtained by the encoder, +to correct this initial guess. A PID controller is used to make this +correction. PID controllers are used commonly in industrial +applications. Feed forward techniques, while less common, increase the +responsiveness of the system to changes in the input position. + +``` +voltage = k_vf * v_setpoint + k_fa * a_setpoint + k_p * err + k_d * derr/dt +``` + +## Known Issues + +There are two main challenges with the current design. The first is +that the 2 mm polycarbonate is flexible causing distortions in the width +of the drive base. To mitigate this while testing, I added additional +support to prevent the base board from flexing. A simple fix would be to +combine both motor mounts into a single 3D print to add additional +support. The second more significant issue is that the motors cause EMI +on the I2C bus. I find it highly likely that this is due to high ground +currents. I am currently experimenting with bus isolators to prevent the +noise from affecting the bus. + +## Results + +The result is a robot which can follow an input trajectory with +surprising accuracy. I tested the robot against cosine, ellipse, and +figure eight trajectories. In my testing, the robot generally deviated +less than a centimeter along a five meter path. + + diff --git a/posts/building-the-a1/meta.json b/posts/building-the-a1/meta.json new file mode 100644 index 0000000..a9edc7d --- /dev/null +++ b/posts/building-the-a1/meta.json @@ -0,0 +1,4 @@ +{ + "name": "Building the A1 Differential Drive Robot", + "lastUpdated": "2022-05-30" +}
\ No newline at end of file diff --git a/public/img/robot.png b/public/img/robot.png Binary files differnew file mode 100644 index 0000000..7ac838a --- /dev/null +++ b/public/img/robot.png diff --git a/public/img/robot_labeled.png b/public/img/robot_labeled.png Binary files differnew file mode 100644 index 0000000..826c729 --- /dev/null +++ b/public/img/robot_labeled.png diff --git a/utils/Posts.tsx b/utils/Posts.tsx index 2a69629..fed1d31 100644 --- a/utils/Posts.tsx +++ b/utils/Posts.tsx @@ -1,6 +1,7 @@ import { promises as fs } from 'fs'; import path from 'path'; -import marked from 'marked'; +// @ts-ignore +import { marked } from 'marked'; import markedOptions from './markedOptions'; marked.setOptions(markedOptions); |
