ROBO201 Lab 1: Hardware Assembly of TurtleBot3

Vocabulary flashcards covering TurtleBot3 hardware components, sensors, specifications, and architecture based on ROBO201 Lab 1 notes.

TurtleBot3

A small programmable Robot Operating System (ROS) based mobile wheeled robot used in education, research, hobby projects, and product prototyping.

TurtleBot3 Burger

The specific model of TurtleBot3 used in the lab, constructed with a scalable structure, a 360° LiDAR, single board computer, OpenCR board, DYNAMIXEL motors, and a Li-Po battery.

Laser Distance Sensor (LDS-02)

A 2D 360-degree laser scanner mounted on top of TurtleBot3 that emits a rotating laser beam to measure real-time distances to surrounding obstacles, transmitting point cloud data to the Raspberry Pi via USB for SLAM and navigation.

SLAM

Simultaneous Localization and Mapping; a navigation process that enables an autonomous robot to build a map of an unknown environment while keeping track of its location within it.

OpenCR Board

An open-source robotics control board equipped with an STM32 32-bit ARM Cortex-M7 processor operating at $216\,MHz$ that provides fast, real-time calculations, motor control, I/O expansion, and IMU data.

Single Board Computer (SBC)

The Raspberry Pi 4 unit acting as the main processor and brain of TurtleBot3, responsible for high-level computing, processing LiDAR data, running Linux OS and ROS2 packages, and facilitating wireless communication.

DYNAMIXEL Motors

Servo motors integrated with magnetic encoders used in TurtleBot3 to provide precise velocity and position control for the wheels.

Differential Drive

A drive system configuration utilizing two independently controlled driven wheels to manage both movement and steering.

Integrated 9-axis IMU

An Inertial Measurement Unit located on the OpenCR board comprising a 3-axis Gyroscope, 3-axis Accelerometer, and 3-axis Magnetometer.

rosserial

A communication protocol and client library in ROS that allows the OpenCR board to communicate natively with the Raspberry Pi.

TurtleBot3 Max Translational Speed

The maximum linear speed of the TurtleBot3 Burger model, measured at $0.22\,m/s$.

TurtleBot3 Max Rotational Speed

The maximum rotational speed of the TurtleBot3 Burger model, measured at $2.84\,rad/s$ (approximately $162.7^\circ/s$).

TurtleBot3 Dimensions

The physical dimensions of the TurtleBot3 Burger model, which are $138\,mm \times 178\,mm \times 192\,mm$ (Length $\times$ Width $\times$ Height).

TurtleBot3 Battery Specs

An $11.1\,V$ $1800\,mAh$ Li-Po battery designed to operate the robot for approximately $2.5\,\text{hours}$.

TurtleBot3 Max Payload

The maximum payload weight supported by the TurtleBot3 Burger structure, which is $15\,kg$.