Modular Mobile Robotic Kit for Prototyping and Debugging of Control Algorithms

Abstract

Rising popularity of robotics in education leads to necessity for high-quality tool for modern training programs - robotic kit. Most of the existing solutions do not have sufficient element base for the correct execution of complex algorithms. Moreover, due to a large number of components and tiny connectors a large part of the learning process is spent on prototyping, not on the study of control problems. The authors propose a new kit for mobile robotics, which key feature is modularity. The kit includes control system module, autonomous power supply, power drive modules, communication module, and different mechanical transmission modules such as bearing unit, cylindrical gear, worm gear and angular bracket. Implementation of the most common control tasks (collision avoidance, path planning, etc.) is possible due to special instrumentation modules, which include light, temperature and microphone sensors; a touch sensor and a line sensor; an ultrasonic and infrared distance sensor. In addition to constructive configuration solutions, authors focus special attention on the circuit design of the future kit. On base of the proposed kit it is possible to prototype such robotic systems as wheeled and tracked platforms and robotic arm, which models and structural diagrams are shown in the article. The effectiveness of the developed kit is proved by powerful functional modules and modular construction in general that will reduce the time needed for prototyping robotic systems, and will allow focusing directly on the debugging of control algorithms.