URC Roadmap

Owned by Yuchen Lin
Jun 29, 2024
1 min read

Drivetrain:

Mech:

  • Robot right rocker needs to be remanufactured

  • Wheel redesigned with Polyurethane

Electrical:

  • PDB remanufactured & respec

  • switch all motors to spark max

  • Add Jetson into the system

  • Test CAN signal (termination)

Firmware:

  • CAN wrapper (CAN configuration)

Software:

  • Drivetrain controller(speed ramping, arcade controller)

  • Ground station interface (drivetrain system)

  • Close loop control (PID speed controlling, Encoder feedback loop)

 

Sensor:

Hardware:

  • Gimbal

    • 2 DOF camera for perception tasks(User interface, autonomy - reading tag(locking), Visual scanning)

  • arm camera(show end effector operation)

  • 2 x fixed depth camera (objective avoidance/ detection, navigation)

  • Vector NAV [IMU + GPS] (main GPS)

  • Localization [IMU + GPS] (backup GPS)

  • Encoder (drivetrain/ Arm/ Gimbal)

Mech:

  • Investigate why to use BLDC for gimbal (FOC controller)

    • need justification and decide later

  • Skeleton mount and placement (<-> Software)

  • Antenna mount for vector NAV

Electrical:

  • USB HUB to Jetson

  • CAN & localization wire for Encoder

  • Gimbal control connection

Firmware:

  • CAN Transceiver

  • Localization board firmware

Software:

  • Gimble controller

  • Sensor data interfacing

    • encoder

    • depth camera

    • GPS/IMU

    • image transport

Autonomy

Mech:

  • Sensors

Software:

  • localization

  • object detection

  • object avoidance

  • reset objective

  • path planning

  • aruco-tag reading

EBOX redesign

Hardware:

  • Estop

  • BMS

  • PDB

  • Power delivery

  • Jetson

  • Drivetrain

    • Spark motor drivers (6)

  • Arm

    • Motor drivers (7)

  • Interface

    • Motor Andersons

    • Science Power

    • Ethernet ports

    • RS232 connectors

 

Mech:

  • Bigger ebox

  • Detailed electronics placement

  • wire management

  • ebox mount interface

  • Maybe 2 layers

Electrical:

  • Redo connections

  • Component placement

  • Wiring plan with mech

 

Arm

Hardware:

  • Seven motors (6 DOF)

  • End effector

  • encoders

  • BLDC motor driver

Mech:

  • Simulate Torque value for all motor axis

    • get max moment

    • Understand the folding and extending workspace

  • custom end effect

    • tooling station

  • testing bench

  • Motor spec/ weight reduction

  • Ebox interface

Electrical:

  • motor controller

  • wiring

  • video mux

  • motor characterization

    • odrive rca

Software:

  • CAN interface

  • inverse kinematics (motion)

    • position feedback loop

  • user control interface

    • home position

  • arm camera interface

 

 

AUX:

Hardware:

  • Fans (PWM output and Tachometer input)

  • Estop Relay

  • Terminals

  • LED Matrix

  • Ebox temperature sensor

  • Microcontroller (STM32)

Mech:

  • LED strip mounting

  • Electrical mounting of Aux board

Electrical:

  • Design of Auxillary control board

  • Soldering of auxiliary components

Firmware:

  • Control of sensor inputs and PWM outputs on

  • Serial between jetson and microcontroller

  • Temperature PID control of Ebox fans