โ๏ธ Locomotion System
MICKY uses a Mecanum wheel-based locomotion system, enabling omnidirectional motion without requiring rotation of the robot body.
The system adopts a hybrid control architecture, where high-level processing is performed on a computer running ROS 2 Humble, while low-level control is handled by dedicated hardware. This separation ensures real-time motor actuation while maintaining flexibility for planning and decision-making.
This design is widely used in mobile robotics applications, providing improved maneuverability, scalability, and system robustness.
Hardware Configuration
Motor control is managed by an Arduino Mega 2560, which interfaces with four TB6600 drivers. These drivers are responsible for actuating Nema 23 stepper motors.
For navigation and state estimation, the robot uses MPU6050 sensors connected via the I2C bus.
Robot Kinematics
The robot uses Mecanum wheels, enabling omnidirectional motion through the combination of individual wheel velocities.
The system kinematics is based on converting the robotโs velocity commands, defined by the linear velocities in X (v_x) and Y (v_y), along with the angular velocity (ฯ), into individual wheel velocities.
This allows:
Forward and backward motion
Lateral (sideways) motion
Rotation
Combined movements (e.g., diagonal motion)