Open source and open hardware mobile robot for developing applications in education and research

Abstract

Nowadays, additive manufacturing, rapid prototyping and assembly modules represent a market that has invaded the entire world, especially in developing countries where traditional manufacturing is more restricted. In robotics, it is pertinent to think that modular construction is essential, due to the complexity of geometry in each of the pieces and their manufacture. Taking into account the globalization of information and the worldwide reproduction of databases, facilitating access to CAD files to be reproduced in 3D printing promotes the easy construction of archived mechanical designs. A robotic architecture becomes a complex assembly by having multiple operating systems. The sensorics, mechanics, electronics and programming that it requires for navigation, collaboration, development, operation and even industrial manufacturing means that more and more elaborate embedded systems are used. In this work, a mobile robotics architecture was developed with a sensory system that allows free movement and navigation in closed loop inverse kinematics. This kind of robot uses navigation algorithms to take a trajectory in collaborative closed environments, that is, closed industrial environments where obstacles are normally immovable and corridors to move narrow, in addition to having mobile obstacles like humans.

Keywords

• Mobile robotics
• Omnidirectional movement
• Sensorics
• Navigation