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Motion Primitive for Robile (Freddy)

Ramping behaviour of the robile platform using motion primitives.

The aim of the project is performing a controlled movement over the ramp using motion primitives for the robile platform robot. Based on previous semester SDP (WS2021) Kelo 500 motion control which uses force control.

You can find videos regarding the project here!

Project milestone deliverables can be found here!

Ramping behaviour output:

test

Getting started

Required library

  • Simple Open EtherCAT Master (SOEM) - communication between robot and the actuators. SOEM
  • robif2b - robot control interface robif2b
  • GSL - GNU Scientific Library GSL
  • WS21 SDP repository: Motion Control of the KELO 500 Kelo 500 motion control

Building SOEM library

git clone https://github.com/OpenEtherCATsociety/SOEM

Replace STATIC with SHARED on line 72 in CMakeList.txt, it should look like the code block below,

add_library(soem SHARED
  ${SOEM_SOURCES}
  ${OSAL_SOURCES}
  ${OSHW_SOURCES}
  ${OSHW_EXTRA_SOURCES})
target_link_libraries(soem ${OS_LIBS})

Continue building steps:

mkdir install 
cd SOEM
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=<path to created install folder>/install ..
make install

Building WS21 SDP library

git clone https://github.com/HBRS-SDP/ws21-kelo-500-motion-control
cd ws21-kelo-500-motion-control/KELO_SDP
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=<path to created install folder>/install ..
cmake -DCMAKE_C_FLAGS="-I<path to created install folder>/install/include" -DENABLE_PACKAGE_REGISTRY=on -DENABLE_ETHERCAT=ON ..
make install

How to get active wheels (slaves) indexes

cd SOEM/build/test/linux/slaveinfo
sudo ./slaveinfo <your-ethernet-port-id>

[FYI: get the ethernet port id by running ifconfig or ip a]

Building the code

git clone --recursive https://github.com/HBRS-SDP/ss22-motion-primitive-freddy.git
mkdir build && cd build
cmake ..
make

Building robif2b library

cd robif2b
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=<path to created install folder>/install ..
cmake -DCMAKE_C_FLAGS="-I<path to created install folder>/install/include" -DENABLE_PACKAGE_REGISTRY=on -DENABLE_ETHERCAT=ON -DENABLE_KELO=ON ..
make install

Running the code

(from outside of cloned repo)
cd ss22-motion-primitive-freddy/build
sudo ./us5 <wheel_alignment_direction> # where wheel_alignment_direction is 0, 90, 180, or 270

# or run individual user stories, for example 
sudo ./us2 90 # to align wheels in 90 degrees (+Y direction)

How to make any library as a package:

  • Create a CMakeLists.txt file. Main features of the file are:
    • find_package finds for the file or library mentioned in the closed parenthesis.
      Example: find_package(robif2b REQUIRED)
    • add_executable adds the executable target needs to be built from the listed source files.
      Example: add_executable(us2 src/kelo_robile_example_us2.c)
    • target_link_libraries takes the target and adds dependency.
      Example: target_link_libraries(us2 robif2b::kelo m)

User stories / TODO

  • Running previous semester SDP (Force distribution).
  • Orientation of wheel units to disired configuration.
  • Align the robot with ramp base.
  • Implement ramp-up behaviour.
  • Integrate sub-modules as a complete state machine.