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Upgrading robot KUKA youBot’s hardware and ROS-software
Eesti keeles: Mobiilne robot KUKA youBot on oma funktsionaalsuselt päevakajaline nii teaduse kui õppetöö eesmärkidel, sest tegu on omniliikuva mobiilse manipulaatoriga. Ent roboti pardaarvuti (Intel Atom D510 Dual Core 1.66 GHz, 2 GB DDR2 RAM) on vananenud ja tootja poolt toetatud tarkvara (ROS Indigo ja Ubuntu 14.04) aegunud. Seetõttu oleks vajalik robot ajakohastada nii, et seda saaks kasutada kaasaegsetes lahendustes. Roboti ajakohastamiseks asendati KUKA youBoti pardaarvuti Intel NUCiga (Intel Core i5-4250U, 4 GB DDR3 RAM) ja paigaldati ROS Kinetic ning Ubuntu 16.04. Riistvara ja tarkvara uuendamise tulemusena tõusis KUKA youBoti pardaarvuti jõudlus. Suurim muutus toimus manipulaatori liigutusplaneerimisele kulunud ajas, mis vähenes enam kui 100 korda. In English: Mobile robot KUKA youBot is functionally relevant in research and education purposes because it is a omnidirectional mobile manipulator. But the robot’s onboard computer (Intel Atom D510 Dual Core 1.66 GHz, 2 GB DDR2 RAM) and the software the manufacturer supports (ROS Indigo and Ubuntu 16.04) are out of date. For that reason the robot needs to be brought up to date so it could be used in modern solutions. To bring the robot up to date, KUKA youBot’s onboard computer was replaced with Intel NUC (Intel Core i5-4250U, 4 GB DDR3 RAM) and ROS Kinetic and Ubuntu 16.04 were installed. As a result of upgrading The hardware and software, KUKA youBot’s performance increased. The biggest change could be seen in the manipulator’s movement planning time, where it decreased more than a 100 times.
- University of Tartu Estonia
robotics, bakalaureusetööd, ROS, KUKA youBot, robootika
robotics, bakalaureusetööd, ROS, KUKA youBot, robootika
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