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Hardware to Support ROS, OpenCV, and Motor Control

asked 2013-12-11 17:29:39 -0500

daalt gravatar image

updated 2014-04-20 14:09:42 -0500

ngrennan gravatar image

I would like to build a robot arm that has sonar and camera sensors to manipulate physical objects. I intend to use ROS for the motion planning and sensor processing and OpenCV for the camera processing. I'm early into this project and I've tentatively picked some hardware that I think will get me in the ballpark but I'm not really sure if it will work.

My choices so far are: 1) Pandaboard ES (dual-core ARM 1.6MHz) to run Lubuntu and ROS (motion planning, sensor processing) and OpenCV for video processing, 2) a Mini Maestro 16-channel PWM motor control driver to drive up to 10 motors (with room to grow), and 3) Talon SR H-bridge controllers for each of the motors. Note that the motors are 12V and may have max currents up to 60A. I assume that I'll be able to run the motor encoders back to the GPIO pins of the Pandaboard to form a closed-loop control system.

I'm worried that the Pandaboard won't have enough CPU power to handle all the image processing, motion control, and motor control. Is there a better way to handle these needs? Perhaps a different dedicated board to handle complete PID control of the motors? If so, what specifically would you suggest?

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answered 2013-12-11 23:38:49 -0500

Vegeta gravatar image

updated 2013-12-12 00:29:38 -0500

Look into the rosserial package. It works great with arduino for motor control using the polulo gear motors and encoders.
The pi_robot is another place to look for answers for using ros with arduino.

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Asked: 2013-12-11 17:29:39 -0500

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Last updated: Dec 12 '13