Getting MIRTE under (ros2_)control
A thesis on improving the system response of the wheels of the MIRTE Master as observed from ros2_control
J.C. van Brakel (TU Delft - Mechanical Engineering)
M. Wisse – Mentor (TU Delft - Mechanical Engineering)
J.M. Prendergast – Graduation committee member (TU Delft - Mechanical Engineering)
J.H. Boyle – Graduation committee member (TU Delft - Industrial Design Engineering)
G.A. van der Hoorn – Graduation committee member (TU Delft - Mechanical Engineering)
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Abstract
A good wheel system response is crucial for accurate robot locomotion, especially when using a Mecanum wheel locomotion system. However, the step and frequency responses of TU Delft’s budget-oriented educational robot, the MIRTE Master, leave much to be desired. The purpose of this thesis is to improve the frequency and step response of the wheels of the MIRTE Master while keeping its budget, hardware, and flexibility constraints intact. This has been achieved by improving the control architecture to better integrate with the ros2_control framework and optimizing the hardware communication. This has resulted in a modular control architecture with a controller-frequency independent noise reduction of the wheel velocity signal. Furthermore, the computational load of the control setup has been changed to be significantly reduced in the situation where the robot is idle. This new architecture showed significant improvements compared to the original setup in frequency response and step response measurements.