2023.09 Chikwata cheRobhoti
“
Zvinotsanangurwa
- Chigadzirwa: BUNKER MINI 2.0
- Shanduro Yekushandisa: V2.0.1
- Zuva Rokuburitswa: 2023.09
- Max Mutoro Unokwanisa: 25KG
- Kushanda Tembiricha: 0 ~ 40°C
- Isingapindi mvura uye Dustproof Rating: IP67 (kana isiri yega
customized)
Mirayiridzo Yekushandiswa Kwechigadzirwa
Safety Information
Usati washandisa midziyo, ita shuwa kuverenga uye kunzwisisa zvese
ruzivo rwekuchengetedza rwakapihwa mubhuku rekushandisa. Ita njodzi
kuongororwa kweiyo yakazara marobhoti system uye kusimbisa dhizaini chaiyo
uye kuiswa kwemaperipherals.
Environment
Verenga bhuku racho nokungwarira usati washandisa robhoti kekutanga
nguva. Sarudza nzvimbo yakavhurika yekushanda kure sezvo mota ichishaya
otomatiki chipingamupinyi kudzivirira sensors. Shanda mune imwe ambient
tembiricha ye 0 ~ 40°C.
Inspection
- Ita shuwa kuti mudziyo wega wega une simba rakakwana.
- Tarisa uone kana paine zvisizvo mumotokari.
- Wona kuti mabhatiri eremote control akazara
mhosva.
Operation
- Ita shuwa kuti nzvimbo yakapoteredza yakajeka panguva yekushanda.
- Chengetedza remote control mukati mekuona.
- Usapfuure hurefu hwekutakura huwandu hwe25KG.
- Simbisa nzvimbo yepakati pehuwandu paunenge uchiisa kunze
extensions. - Chaja mudziyo nekukasira kana alarm yakaderera bhatiri kurira.
- Shanda munzvimbo inosangana nedziviriro level
zvinodiwa.
FAQ
Mubvunzo: Chii chandinofanira kuita kana mudziyo ukarira bhatiri rakaderera?
A: Ndokumbira uichajise nekukasira kudzivirira kukanganisa panguva
kushanda.
Mubvunzo: Ndinogona here kudarika huwandu hwekutakura huwandu hwe25KG?
A: Aiwa, zvakakosha kuti usapfuure iyo yakataurwa inorema huwandu
kuve nechokwadi chekushanda kwakachengeteka kwechigadzirwa.
Q: Ndeipi tembiricha yekushanda yeBUNKER MINI
2.0?
A: Iyo yakakurudzirwa tembiricha yekushanda kubva pa0 kusvika ku40
madhigirii Celsius.
"`
BUNKER
MINI
2.0
Mushandisi
Manual
BUNKER
MINI AgileX Robotics Chikwata Mushandisi
Chinyorwa V.2.0.1
2023.09
Gwaro
shanduro
Kwete. Version
Date
Yakarongedzwa na
Reviewer
1 V1.0.0 2023/1/15
Anonyora gwaro rekutanga
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2 V2.0.0 2023/3/21
3
V2.0.1 2023/09/02
4
V2.0.2 2023/09/06
1. Shandura ros mutyairi readme 2. Shandura bunkermini matatu views 3. Yakawedzerwa ruzivo rwechiremoti cheruzivo
4. Yakawedzerwa mileage ruzivo mhinduro
5. Yakawedzera bms ruzivo rwemhinduro
6. Gadzirisa marongerwo epeji
Wedzera kupa mufananidzo Shandura mashandisiro eROS package
Kuongorora magwaro
Gadziridza remote control picture Optimize file fomati Aviation isa update
Yakagadziridzwa chimiro chechimiro dhayagiramu
Ichi chitsauko chine ruzivo rwakakosha rwekuchengetedza runofanira kuverengwa nekunzwisiswa nemunhu chero upi zvake kana sangano risati rashandisa midziyo apo robhoti rinoshandiswa kwekutanga. Unogona kutibata nesu support@agilex.ai kana uine mibvunzo nezve mashandisiro. Zvakakosha kuti mirairo yese yegungano uye nhungamiro mune zvimwe zvitsauko zvebhuku rino zvitevedzwe nekuitwa. Kunyanya kutarisisa kunofanirwa kubhadharwa kune zvinyorwa zvine chekuita nezviratidzo zveyambiro.
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Safety
Information
Ruzivo rwuri mubhuku rino harusanganisi dhizaini, kuisirwa uye kushanda kwerobhoti yakazara application, uye haisanganisi chero maperipheral anogona kukanganisa kuchengetedzeka kweiyi system yakazara. Magadzirirwo uye kushandiswa kwehurongwa uhwu hwakakwana hunoda kuteedzera zvinodiwa zvekuchengetedza zvakamiswa mumiyero uye zvakatemwa zvenyika iyo robhoti yakaiswa. Iro ibasa revasanganisi veBUNKERMINI uye vatengi vekupedzisira kuona kuteedzera kwakakodzera uye mitemo inoshanda nemirairo, kuitira kuti ive nechokwadi chekuti hapana njodzi huru mune yakazara robhoti application ex.ample. Izvi zvinosanganisira asi hazvigumiri kune zvinotevera:
Validity
uye
Basa
Ita ongororo yengozi yerobhoti yakazara system. Batanidza pamwe chete zvimwe zvekuchengetedza zvemimwe michina sezvinotsanangurwa nenjodzi
kuongorora.
Simbisa kuti dhizaini uye kuisirwa kwemaperipheral eiyo yakazara marobhoti system, kusanganisira software uye hardware masisitimu, ndeyechokwadi.
Robhoti iri harina mabasa ekuchengetedza akakodzera erobhoti rakakwana rakazvimirira, rinosanganisira asi risingaganhurirwe kune otomatiki anti-kudhumhana, anti-kuwa, biological nzira yambiro, etc. Aya mabasa anoda vanobatanidza uye vatengi vanopedzisa kuita ongororo dzekuchengetedza zvinoenderana nekwakakodzera. specifications uye inoshanda mitemo nemirairo, kuitira kuti ive nechokwadi chekuti robhoti yakagadziridzwa haina chero njodzi huru uye njodzi dzekuchengetedza mumashandisirwo anoshanda.
Unganidza magwaro ese muhunyanzvi file: kusanganisira kuongororwa kwenjodzi uye bhuku rino. Ngwarira njodzi dzinogona kuitika usati washandisa uye kushandisa mudziyo.
Environment
Paunenge uchirishandisa kekutanga, ndapota verenga bhuku rino zvine hungwaru kuti unzwisise zvakakosha zvirimo uye mashandisirwo emashandiro.
Kuti ushande kure, sarudza nzvimbo yakavhurika yekushandisa, uye mota pachayo haina chero otomatiki chipingamupinyi chekudzivirira masensa.
Shandisa mu ambient tembiricha ye 0 ~ 40.
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Kana iyo mota isina yakasarudzika yakasarudzika IP nhanho yekudzivirira, mota isingapinde mvura uye inodzivirira guruva kugona ndeye IP67.
Inspection
Ita shuwa kuti mudziyo wega wega une simba rakakwana. Ita shuwa kuti hapana chiri pachena chisina kujairika mumotokari. Tarisa kuti mabhatiri eremote control akazara here.
Operation
Ita shuwa kuti nzvimbo yakapoteredza yakanyatsojeka panguva yekushanda Remote control mukati mekuona nharaunda Iyo yakanyanya kuremerwa simba reBUNKERMINI ndeye 25KG. Paunenge uchiishandisa, iva nechokwadi chekubhadhara
haipfuure 25KG. Paunenge uchiisa ekunze ekuwedzera paBUNKERMINI, simbisa chinzvimbo chepakati pehuwandu
yekuwedzera kuve nechokwadi kuti iri pakati pekutenderera Kana mudziyo uchiridza bhatiri rakaderera, ndapota uchachaja nenguva. Ndokumbira ushandise mudziyo munzvimbo inosangana nedanho rekudzivirira zvinoenderana
kusvika padanho rekudzivirira reIP remudziyo. Ndokumbira usasundire ngoro yacho zvakananga Iyo muswe wekuwedzera simba rekupa ikozvino haipfuure 10A, uye iyo yakazara simba haipfuuri.
kupfuura 240W.
Bhatiri
zvekungwaririra
Bhatiri rezvigadzirwa zveBUNKER MINI harina kubhadhariswa zvizere kana rabva mufekitori. Iyo chaiyo bhatiri voltage uye simba rinogona kuratidzwa kuburikidza nevoltage kuratidza mita kumashure kweBUNKER MINI chassis kana kuburikidza nevol uye batt pane kure kure control.
Ndapota usachaja bhatiri mushure mekunge rashandiswa. Ndokumbira uichajise nenguva iyo BUNKER MINI remote control bhatiri yakaderera pane 15% kana muswe vol.tage kuratidza yakaderera pane 25V.
Static kuchengetedza mamiriro: Iyo yakakwana yekuchengetedza tembiricha ndeye -10 ~ 40. Kana bhatiri risiri kushandiswa, rinofanirwa kuchajwa uye kuburitswa kamwe chete mwedzi wega wega, uye rochengetwa rizere vol.tage. Usachengete bhatiri Isa mumoto, kana kupisa bhatiri. Usachengeta mabhatiri pakupisa kwakanyanya.
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Kuchaja: Iwe unofanirwa kushandisa iyo inoenderana yakatsaurirwa lithium bhatiri charger pakuchaja. Usachaji bhatiri riri pasi pe0°C. Usashandise asiri epakutanga akajairwa mabhatiri, magetsi, uye majaja.
Zvekungwaririra
nokuti
use
zvakatipoteredza
Iyo tembiricha yekushanda yeBUNKER MINI ndeye -10 ~ 40. Ndokumbira usashandise munzvimbo dzine tembiricha iri pasi -10 kana kupfuura 40.
Usashandise munzvimbo ine gasi rinoparadza kana kuti rinobvira moto kana pedyo nezvinhu zvinopfuta.
Ndokumbira usashandise padhuze nezvinhu zvekudziya senge maheater kana mahombe macoil resistors. BUNKER MINI iri IP67 isina mvura uye isingapindi guruva. Ndapota usashandise yakanyikwa mumvura kwenguva refu
nguva. Tarisa uye bvisa ngura nguva dzose. Zvinokurudzirwa kuti nzvimbo yekushanda haipfuure 1000M Inokurudzirwa kuti musiyano wekushisa pakati pemasikati neusiku mukushandiswa.
nharaunda haipfuure 25 Gara uchiongorora uye chengetedza track tensioners
Safety
Zvekungwaririra
Kana iwe uine chero mibvunzo nezve maitiro ekushandisa, ndapota tevera iro rakakodzera rekuraira bhuku kana bvunza vakakodzera vehunyanzvi vashandi.
Usati washandisa zvishandiso, teerera kune-pa-saiti mamiriro kuti udzivise kushanda zvisina kunaka izvo zvinogona kukonzera matambudziko ekuchengetedza ega.
Kana paita emergency, tinya bhatani rekumisa emergency kuti udzime mudziyo. Ndokumbira usagadzirise chimiro chemukati mudziyo pasina rutsigiro rwehunyanzvi uye mvumo. Kana chimwe chinhu chisina kumira zvakanaka nemidziyo, ndapota chirega kuishandisa nekukasira kudzivirira
kukuvara kwechipiri. Kana kukanganisa kukaitika mumidziyo, ndapota taura nevashandi vehunyanzvi vakakodzera
uye usazvibate pasina mvumo.
ZVIRI MUKATI
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Gwaro
shanduro
ZVIRI MUKATI
Safety
Information
ZVIRI MUKATI
1 Sumo
of
BUNKER
MINI
2.0
1.1 Chigadzirwa Rondedzero 1.2 Performance paramita 1.3 Inodiwa pakuvandudza
2 The
Basics
2.1 Tsanangudzo yemagetsi 2.2 Remote control mirairo 2.3 Kudzora kuraira uye tsananguro yekufamba
3 Kuwana
Started
3.1 Kushandisa uye kushanda 3.2 Kuchaja 3.3 Budiriro
3.3.1 CAN Cable Connection 3.3.2 CAN protocol tsananguro 3.3.3 BUNKER MINI 2.0 ROS Package Usage Example
4
Shandisa
uye
kushanda
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5
Q&A
6
Product
Dimensions
6.1 Mifananidzo yezvimiro zvechigadzirwa 6.2 Mifananidzo yemabhureki ekuwedzera ekuwedzera.
1 Sumo
of
BUNKER
MINI
2.0
BUNKER MINI 2.0 imotokari inotenderera yakatevedzwa chassis yemaindasitiri ekushandisa. Inoratidzwa nekushanda kwakareruka uye kunonzwisisika, nzvimbo yakakura yekusimudzira, kuchinjika pakukura uye kushandiswa munzvimbo dzakasiyana-siyana, IP67 isina guruva uye isina mvura, uye gradeability yakakura, nezvimwewo. Inogona kushandiswa pakugadzira marobhoti anokosha akadai sekuongorora nekuongorora, EOD. kununura, kupfura kwakakosha, uye kutakura kwakakosha, uye mhinduro kune robhoti kufamba.
1.1 Chigadzirwa
List
Zita BUNKER MINI 2.0robot muviri
Chaja yebhatiri (AC 220V)
Aviation plug murume 4Pin
FS remote control (inosarudza) USB kune CAN kutaurirana module
1.2 Kuita
parameters
Huwandu x1 x1 x1 x1 x1
Parameter Types Mechanical tsanangudzo
Zvinhu L × W × H (mm)
Hwaro 690 x 570 x 335
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Chigadziko chevhiri (mm)
Kumberi/kumashure vhiri base (mm)
Chassis urefu
Track wide
Curb uremu (kg)
Bhatiri Type
Battery parameters
Power drive mota
Steering drive mota
Yokupaka modhi
Kufambisa
Kumiswa fomu
Steering mota kuderedza reshiyo
Steering mota encoder
Dhiraivha mota kuderedza reshiyo
Dhiraivha mota sensor
Performance parameters
IP Giredhi
Kumhanya kukuru (km/h)
Diminimum turning radius (mm)
Kukwirira kukuru (°)
80 100 56 Lithium bhatiri 30AH 2 × 250W DC bhurasho mota Tevera mhando yekusiyanisa chidhiraivho -
-
-
19.7 1
Magnetic braiding 1024 IP22 1.0
Inogona kuchinja panzvimbo
30°
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Kudzora
Zvipingamupinyi zvakanyanya kuyambuka Ground clearance (mm) Upenyu hwebhatiri hwepamusoro (h) Chinhambwe chikuru (km) Nguva yekuchaja (h)
Kushanda tembiricha ()
Kudzora maitiro
RC transmitter System interface
120mm 410 8 14KM 3
-10 ~ 40 Remote control Control Command control mode 2.4G/yakanyanya kureba 200M
CAN
1.3 Inodiwa
nokuti
development
BUNKER MINI 2.0 yakashongedzerwa neFS kure kure kubva kufekitori, kuburikidza iyo vashandisi vanogona kudzora chassis yeBUNKER MINI 2.0mobile robhoti kupedzisa kufamba uye kutenderera mashandiro. Kunze kwezvo, BUNKER MINI 2.0 inoshongedzerwa neCAN interface, kuburikidza iyo vashandisi vanogona kuitisa yechipiri kusimudzira.
2 The
Basics
Ichi chikamu chinopa sumo yekutanga kune BUNKER MINI 2.0 mobile robhoti chassis, kuitira kuti vashandisi nevagadziri vagone kuve nekunzwisisa kwekutanga kweBUNKER MINI 2.0chassis.
2.1 Zvemagetsi
interface
tsananguro
Iyo yekumashure yemagetsi interface inoratidzwa muMufananidzo 2.1, umo Q1 ndiyo inomira chinja chekukurumidzira, Q2 ndiyo chinja chemagetsi, Q3 ndiyo magetsi ekuratidzira kupindirana, Q4 ndiyo yekuchaja interface, uye Q5 ndiyo CAN uye 24V simba rekubhururuka kwemhepo.
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Mufananidzo2.1 Rear magetsi interface Tsanangudzo yekukurukurirana uye simba rekugadzirisa kweQ5 inoratidzwa mumufananidzo 2-2.
Pin Nha.
Pin Type
Basa uye Tsanangudzo
1
Simba
VCC
2
Simba
3
CAN
GND CAN_H
Mashoko
Positive power supply, voltage renji 24 ~ 29V, yakakura ikozvino 10A Negative magetsi CAN bhazi rakakwirira
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4
CAN
CAN_L
CAN bhazi rakaderera
Mufananidzo 2.2 Pini tsananguro dhayagiramu yekumashure yeaviation yekuwedzera interface
2.2 Kure
control
mirayiridzo
Iyo Fuss kure kudzora ndeye sarudzo yekuwedzera yeBUNKER MINI zvigadzirwa. Vatengi vanogona kusarudza zvinoenderana nezvinodiwa chaizvo. Kushandisa kure kure kunogona kudzora zviri nyore iyo BUNKER MINI universal robot chassis. Muchigadzirwa ichi, tinoshandisa dhizaini yeruboshwe-ruboshwe accelerator. Tsanangudzo uye mabasa ayo anogona kuendeswa kuMufananidzo 2.3. Mabasa emabhatani anotsanangurwa sezvizvi: SWA neSWD hazvigoneke kwenguva. SWB ndiro bhatani rekusarudza maitiro. Isundire kumusoro kune command control mode. Isundire pakati pekuti iwane remote control mode. SWC ndiro bhatani remota light mode. Isundire kumusoro. Ndiyo yakajairika-on mode yemarambi emotokari. Dzvanya iyo pakati kuti ubatidze mwenje kana mota ichifamba. Dzvanya iyo pasi kuti uchinje mwenje kune yakajairwa-kudzima modhi. S1 ndiyo bhatani rekubhomba, rinotonga BUNKER MINI kuenda kumberi nekumashure; S2 inodzora kutenderera, uye SIMBA ndiro bhatani remagetsi. Dzvanya uye ubatisise panguva imwe chete kuti uibatidze.
Ndapota
chiziviso:
SWA,
SWB,
SWC,
uye
SWD
zvose
need
ku
be
at
the
pamusoro
rini
the
kure
control
is
akatendeuka
on.
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Mufananidzo 2.3 Schematic diagram yeFS remote control mabhatani Remote
control
interface
tsananguro: Bunker : modhi Vol: bhatiri voltage Mota: chassis chimiro Batt: Chassis simba percentage P: Park Remoter: kure kure kudzora bhatiri nhanho Fault Code: Ruzivo rwemhosho (Inomiririra byte [5] mu211 furemu)
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2.3 Kudzora
command
uye
kufamba
tsananguro
Isu tinomisikidza iyo coordination referensi chimiro chepasi nhare mbozha zvinoenderana neiyo ISO 8855 yakajairwa sezvakaratidzwa mumufananidzo 2.4.
Mufananidzo 2.4 Schematic dhayagiramu yemota body reference frame Sezvinoratidzwa mu2.4, iyo BUNKER MINI 2.0 body inofanana neiyo X-axis yeyakagadziriswa referensi furemu.
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Muremote control mode, iyo remote control joystick S1 inofamba ichienda kune yakanaka gwara reX kana ichisundirwa kumberi, uye inofamba ichienda nedivi rakashata reX kana yasundirwa kumashure. Kana S1 ikasundirwa kuhukoshi hwepamusoro, kumhanya kwekufamba munzira yakanaka yeX ndiyo hombe, uye kana ikasundidzirwa kune hushoma kukosha, kumhanya kwekufamba munzira isina kunaka yeX gwara ndiyo yakakura. Iyo remote control joystick S2 inodzora kutenderera kwemuviri wemotokari kuruboshwe uye kurudyi. Kana S2 ichisundirwa kuruboshwe, muviri wemotokari unotenderera kubva munzira yakanaka yeX axis kuenda kune yakanaka nzira yeY axis. Kana S2 ichisundirwa kurudyi, mutumbi wemotokari unotenderera kubva munzira yakanaka yeX axis kuenda kune yakaipa nzira yeY axis. Kana S2 ichisundirwa kuruboshwe kuenda kuhukoshi hwepamusoro, mutsara wevheji yekutenderera kwewachi ndiyo yakakura, uye kana ichisundirwa kurudyi kusvika paukoshi hwepamusoro, mutsara wevheji yekutenderera kwewachi ndiyo yakakura. Mukutonga kwekuraira maitiro, kukosha kwakanaka kweiyo linear velocity kunoreva kufamba munzira yakanaka yeX-axis, uye kukosha kwakashata kweiyo linear velocity kunoreva kufamba munzira isina kunaka yeX-axis. Kukosha kwakanaka kweangular velocity kunoreva kuti muviri wemotokari unofamba kubva munzira yakanaka yeX-axis kuenda kune yakanaka nzira yeY-axis, uye kukosha kwakashata kweangular velocity zvinoreva kuti muviri wemotokari unofamba kubva munzira yakanaka. ye X axis kune iyo yakaipa nzira yeY axis.
3 Kuwana
Started
Ichi chikamu chinonyanya kusuma mashandiro ekutanga uye kushandiswa kweBUNKER MINI 2.0 papuratifomu, uye inosuma maitiro ekuita kusimudzira kwechipiri kwemutumbi wemotokari kuburikidza nekunze CAN port uye CAN bhazi protocol.
3.1 Shandisa
uye
kushanda
Check
Tarisa mamiriro emuviri wemotokari. Tarisa uone kana paine kusarudzika kuri pachena mumuviri wemotokari; kana zvakadaro, ndapota taura mushure mekutengesa-rutsigiro;
Tarisa mamiriro e emergency stop switch. Simbisa kuti Q1 yekumisa emergency bhatani kuseri kuri kuburitswa;
Paunenge uchishandisa kekutanga, simbisa kana Q2 (simba switch) mumashure emagetsi pani yakatsikirirwa; kana zvirizvo, ndapota dzvanya uye uisunungure, uye ichave muchimiro chakaburitswa
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Tanga
up
Dzvanya switch yemagetsi (Q2 mugetsi remagetsi), pasi pemamiriro akajairwa, mwenje wemagetsi switch uchave wakabatidzwa, uye voltmeter inoratidza bhatiri vol.tage normally;
Tarisa bhatiri voltage. Kana voltage yakakura kupfuura 24V, inoratidza kuti bhatiri voltage zvakajairika. Kana iri pasi pe24V, bhatiri rakaderera, ndapota richajai;
Simba
off
Dzvanya switch yemagetsi kuti udzime simba;
Emergency
stop
Dzvanya iyo emergency stop switch kumashure kweBUNKER MINI 2.0 muviri;
Basic
kushanda
process
of
kure
control
Mushure mekunge BUNKER MINI 2.0 robot chassis yatangwa zvakajairika, vhura iyo kure kure uye sarudza iyo yekudzora mode senge iri kure yekudzora modhi, kuitira kuti kufamba kweBUNKER MINI 2.0 chikuva kunogona kudzorwa neremote control.
3.2 Kuchaja
BUNKER MINI 2.0 zvigadzirwa zvakashongedzerwa neyakajairwa charger nekukasira, iyo inogona kusangana nekuchaja zvinodiwa nevatengi. Iyo chaiyo yekushanda maitiro ekuchaja ndeaya anotevera:
Ita shuwa kuti iyo BUNKER MINI 2.0 chassis iri musimba-kudzima mamiriro. Usati wachaja, ndapota simbisa kuti Q2 (simba switch) iri kumashure kwemagetsi koni yakashandurwa
off Isa plug yechaja muQ4 yekuchaja interface mumashure emagetsi control panel
Batanidza charger kune magetsi uye wobatidza switch yekuchaja kuti upinde munzvimbo yekuchaja.
Kana uchichaja nekusarudzika, hapana chiratidzo chemwenje pane chassis. Ingave iri kuchaja kana kuti kwete
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zvinoenderana nechimiro chechaja.
3.3 Budiriro
3.3.1
CAN
Cable
Connection
BUNKER MINI inotumirwa nemotokari uye inopa plug yendege yechirume sezvakaratidzwa muMufananidzo 3.1. Tsanangudzo yewaya ndeyero seCANH, yebhuruu seCANL, tsvuku sesimba rakanaka, uye dema seyakaipa. Cherechedza:
In
the
current
BUNKER
MINI
shanduro,
chete
the
muswe
interface
is
open
ku
external
kuwedzera
interfaces.
The
simba
supply
in
izvi
shanduro
anogona
provide
a
maximum
current
of
10A.
Mufananidzo 3.1 Schematic diagram yeaviation plug
3.3.2
CAN
protocol
tsananguro
BUNKER MINI zvigadzirwa zvinopa CAN interface yekusimudzira mushandisi, kuburikidza iyo vashandisi vanogona kuraira nekudzora muviri wemotokari. Iyo CAN yekutaurirana mwero muBUNKER MINI zvigadzirwa zvinotora iyo CAN2.0B chiyero, iyo yekutaurirana baud mwero i500K, uye iyo meseji fomati inotora MOTOROLA fomati. Iyo inofamba mutsara kumhanya uye kutenderera angular kumhanya kwechasisi inogona kudzorwa kuburikidza nekunze CAN bhazi interface; BUNKER MINI ichapindura iyo yazvino yekufamba mamiriro ruzivo uye iyo mamiriro eiyo BUNKER MINI chassis munguva chaiyo. Iyo protocol inosanganisira masisitimu emhinduro mafiramu, mafambiro ekudzora mafambiro, uye mafuremu ekudzora. Iyo protocol yemukati ndeiyi inotevera: Iyo system mamiriro emhinduro yekuraira inosanganisira yazvino mamiriro emota mamiriro emhinduro, control mode mamiriro mhinduro, bhatiri voltage mhinduro uye kukanganisa mhinduro. Iyo protocol yemukati inoratidzwa muTafura 3.1:
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Tafura 3.1 BUNKER MINI 2.0 Chassis State Feedback Frame
Raira zita
System state mhinduro yekuraira
Kutumira node Kugamuchira Node
ID
Cycle ms
Kugamuchira Nguva Yekupera (ms)
Chassis inodzorwa newaya
Chisarudzo chekutonga chikwata
0x211
200ms
Hapana
Data urefu
0x08
Nzvimbo
Function
Data Type
Tsanangudzo
byte [0]
Yazvino mamiriro emuviri wemotokari
isina kusaina in8
0x00 System yakajairika 0x01 Emergency yekuvhara-pasi maitiro
0x02 System kunze
byte [1]
Mode control
isina kusaina in8
0x00 Standby mode 0x01 CAN kuraira kudzora maitiro
0x03 Remote control mode
byte [2] byte [3]
Mabheti masere epamusoro ebhatiri
voltage
Mabheti masere epasi ebhatiri
voltage
isina kusaina int16 Actual voltage X10 (chaizvo kusvika 0.1V)
byte [4]
Reserved
-
0x00
byte [5]
Mhosva ruzivo isina kusaina int8
Kuti uwane rumwe ruzivo, ona [Ruzivo Ruzivo Rwakashata]
byte [6]
Reserved
-
0x00
byte [7]
Verenga cheki(kuverenga)
isina kusaina in8
0 ~ 255 loop count, verenga kumusoro kamwe pese panotumirwa murairo
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Tafura 3.2 Tafura yetsanangudzo yeruzivo rwemhosho
Byte byte [5]
Mhosva yeruzivo tsananguro
Bit
Meaning
zvishoma [0]
Battery undervoltage mhosva
zvishoma [1]
Battery undervoltage yambiro
zvishoma [2]
Remote control
kudimbura kudzivirira 0:
zvakajairika, 1: remote control
disconnection
zvishoma [3]
Yakachengetwa, default 0
zvishoma [4]
Dhiraivha 2 kukanganisa kutaurirana (0: hapana mhosva, 1: kukanganisa)
zvishoma [5]
Dhiraivha 3 kukanganisa kutaurirana (0: hapana mhosva, 1: kukanganisa)
zvishoma [6]
Yakachengetwa, default 0
zvishoma [7]
Yakachengetwa, default 0
Iyo yekufamba inodzora mhinduro furemu yekuraira inosanganisira mhinduro yeazvino mota yemuviri inofamba mutsara velocity uye inofamba angular velocity. Izvo zvakananga zvemukati zveprotocol zvinoratidzwa muTafura 3.3.
Tafura 3.3 Motion Control Feedback Frame
Raira zita
Motion control mhinduro yekuraira
Kutumira Node Kugamuchira Node
ID
Cycle ms
Chassis inodzorwa newaya
Chisarudzo chekutonga chikwata
0x221
20ms
Kugamuchira Nguva Yekupera (ms)
Hapana
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Data kureba Nzvimbo
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x08
Function
Mabhiti masere epamusoro e
speed yekufamba The lower sere
zvimedu zvekukurumidza kufamba
Mabhiti masere epamusoro e
kutenderera kumhanya Iyo yepasi sere
zvimedu zvekutenderera kumhanya
Reserved
Reserved
Reserved
Reserved
Data Type
yakasaina int16
yakasaina int16
-
Tsanangudzo
Kumhanya chaiko X 1000 (chaizvo kusvika 0.001m/s)
Kumhanya chaiko X 100 (chaiyo kusvika 0.01rad/s)
0x00 0x00 0x00 0x00
Iyo yekudzora furemu inosanganisira mutsara velocity control kuvhura, iyo angular velocity control kuvhura uye cheki. Iyo chaiyo protocol yemukati inoratidzwa muTafura 3.4.
Tafura 3.4 Motion Kudzora Command Kudzora Frame
Raira zita
Kutumira node Kugamuchira node
Chisarudzo chekutonga chikwata
Chassis node
Control command
ID
Cycle ms
0x111
20ms
Kugamuchira Nguva Yekupera (ms)
500ms
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Kureba kwedata Position byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x08
Function
Mabhiti masere ekumusoro emutsetse
velocity
Mabhiti masere ezasi emutsetse
velocity
Mabhiti masere epamusoro e
the angular velocity
Mabhiti masere ezasi e
angular velocity
Reserved
Reserved
Reserved
Reserved
Data Type
yakasaina int16
Kumhanya kwekufamba kwemuviri wemotokari, unit mm/s, kukosha kwemhando [-1300,1300]
yakasaina int16
Kutenderera angular velocity yemuviri wemotokari, unit 0.001rad/s, kukosha
mhando [-2000, 2000]
-
0x00
-
0x00
-
0x00
-
0x00
Iyo modhi yekumisikidza furemu inoshandiswa kuseta iyo control interface yeiyo terminal, uye yayo chaiyo protocol yemukati inoratidzwa muTafura 3.5.
Tafura 3.5 Kudzora Mode Setting Frame
Raira zita Kutumira node Kugamuchira node
Kudzora mode kuseta kuraira
ID
Cycle ms
Kugamuchira Nguva Yekupera (ms)
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Chisarudzo chekutonga chikwata
Data urefu
Position
Chassis node 0x01
Function
byte [0]
KUNOGONA kudzora kugonesa
0x421
Hapana
Hapana
Mhando yedata isina kusaina int8
Tsanangudzo
0x00 Standby mode 0x01 CAN yekuraira modhi Inopinda yekumira mode nekukasira
mushure memagetsi
Cherechedza[1] Kudzora modhi tsananguro
Kana iyo remote control yeBUNKER MINI 2.0 isina kuvhurwa, iyo default control mode ndiyo yekumira, uye iwe unofanirwa kushandura kune yekuraira mode kutumira iyo motion control command. Kana remote control yakabatidzwa, ine chiremera chepamusoro uye inogona kuvharidzira kutonga kwemirairo. Kana iyo remote control ichichinja kune yekuraira modhi, ichiri kuda kutumira iyo control mode yekumisikidza yekuraira isati yapindura kumhanyisa kuraira.
Iyo nyika yekumisikidza furemu inoshandiswa kujekesa zvikanganiso zvehurongwa, uye yayo chaiyo protocol yemukati inoratidzwa muTafura 3.6.
Tafura 3.6 State setting frame
Raira zita
State setting command
Kutumira node
Kugamuchira node
ID
Cycle ms
Kugamuchira Nguva Yekupera (ms)
Chisarudzo chekutonga chikwata
Chassis node
0x441
Hapana
Hapana
Data urefu
0x01
Position
Function
Data type
Tsanangudzo
byte [0]
Kukanganisa clearance comman
d
isina kusaina in8
0x00 Bvisa zvese zvisiri-akakosha zvikanganiso 0x01 Bvisa mota 1 kukanganisa 0x02 Bvisa mota 2 kukanganisa
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Chetatu: Eksample data, iyo inotevera data ndeyekuedza kushandiswa chete 1. Motokari inoenda mberi nekumhanya kwe0.15 / S
byte [0] 0x00
byte [1] 0x96
byte [2] 0x00
byte [3] 0x00
byte [4] 0x00
byte [5] 0x00
byte [6] 0x00
byte [7] 0x00
2. Motokari inotenderera pa 0.2RAD/S
byte [0] 0x00
byte [1] 0x00
byte [2] 0x00
byte [3] 0xc8
byte [4] 0x00
byte [5] 0x00
byte [6] 0x00
byte [7] 0x00
Pamusoro pemhinduro yeruzivo rwechassis state, iyo chassis mhinduro yeruzivo inosanganisira mota data uye sensor data.
Tafura 3.7 Mhinduro yemotikari yekumhanyisa ikozvino chinzvimbo ruzivo
Raira zita
Mutyairi wemota yakakwirira-kumhanya ruzivo mhinduro furemu
Kutumira node Kugamuchira node
ID
Cycle ms
Kugamuchira Nguva Yekupera (ms)
Chassis inodzorwa newaya
Chisarudzo chekutonga chikwata
0x251~0x254
20ms
Hapana
Data urefu
0x08
Position
Function
Data type
Tsanangudzo
byte [0] byte [1]
Mabhiti masere ekumusoro ekumhanya kwemota
Mabhiti masere epasi ekumhanya kwemota
yakasaina int16
Yazvino Mota yekumhanyisa unit RPM
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byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
Mabhiti masere epamusoro emotor current
Mabhiti masere ezasi e
motor current
Ikozvino chinzvimbo che
mota ndiyo yepamusorosoro
Ikozvino chinzvimbo che
mota ndiyo yechipiri pakakwirira
Ikozvino chinzvimbo che
mota ndiyo yechipiri yakaderera
Ikozvino chinzvimbo che
mota ndiyo yakaderera
yakasaina int16 yakasainwa int16 yakasainwa int16 yakasainwa int16
Yazvino mota yazvino unit 0.1A
Ikozvino chinzvimbo chemota Unit: nhamba yemapulses
Tafura 3.8 Feedback yemota tembiricha, voltage uye taura ruzivo
Raira zita
Mutyairi wemota yakaderera-speed information feedback frame
Kutumira node Kugamuchira node
ID
Cycle ms
Kugamuchira Nguva Yekupera (ms)
Chassis inodzorwa newaya
Chisarudzo chekutonga chikwata
0x261~0x264
20ms
Hapana
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Kureba kwedata Position byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x08
Function
Mabhiti masere epamusoro emutyairi voltage
Mabhiti masere epasi emutyairi voltage
Mabhiti masere epamusoro etembiricha yemutyairi
Mabhiti masere epasi etembiricha yemutyairi
Motokari tembiricha
Nyika yemutyairi
Reserved
Reserved
Mhando yedata yakasainwa int16
akasaina int16 akasaina int8 asina kusaina int8
-
Tafura 3.9 Actuator sate
Tsanangudzo
Mutyairi wazvino voltaguye chikamu0.1v
chikamu 1
unit1 Ona Tafura 3-9 yeruzivo
0x00 0x00
byte [5]
zvishoma [0] zvishoma [1] zvishoma [2]
Mhosva yeruzivo tsananguro
Kana simba rekupa voltage yakaderera zvakanyanya (0: zvakajairika 1: yakaderera zvakanyanya)
Kunyangwe iyo mota iri pamusoro-tembiricha (0: zvakajairika 1: overtemperature)
Kunyangwe mutyairi ari pamusoro-ikozvino (0: zvakajairika 1: kupfuura-ikozvino)
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zvishoma [3] zvishoma [4] zvishoma [5] zvishoma [6] zvishoma [7]
Kunyangwe mutyairi ari pamusoro-tembiricha (0: zvakajairika 1: overtemperature)
Sensor state (0: zvakajairika 1: zvisina kujairika) Chimiro chekukanganisa kwemutyairi (0: zvakajairika 1: zvisina kujairika) Nyika inogonesa mutyairi (0: Inogonesa 1: Kudzima)
Reserved
Tafura 3.10 Odometer Feedback Frame
Raira zita
Odometer ruzivo rwemhinduro furemu
Kutumira node Kugamuchira node
ID
Cycle ms
Kugamuchira Nguva Yekupera (ms)
Chassis inodzorwa newaya
Chisarudzo chekutonga chikwata
0x311
20ms
Hapana
Data urefu
0x08
Position
Function
Data type
Tsanangudzo
byte [0] byte [1]
Iyo yepamusoro-soro yevhiri rekuruboshwe
odometer
Chikamu chechipiri chepamusoro che
odometer yevhiri rekuruboshwe
yakasaina int32
Iyo odometer mhinduro yevhiri rekuruboshwe rechasisi
Unit mm
byte [2]
Yechipiri yakaderera zvishoma ye
odometer yevhiri rekuruboshwe
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byte [3] byte [4] byte [5] byte [6] byte [7]
Iyo yakaderera zvishoma yevhiri rekuruboshwe odometer
Chikamu chepamusoro che
vhiri rerudyi odometer
Chikamu chechipiri chepamusoro che
vhiri rerudyi odometer
Yechipiri yakaderera zvishoma ye
vhiri rerudyi odometer
Iyo yakaderera zvishoma yevhiri rekurudyi
odometer
yakasaina int32
Iyo odometer mhinduro yevhiri rekurudyi rechasi
Unit mm
Tafura 3.11 Remote control ruzivo mhinduro
Raira zita
Remote control information feedback frame
Kutumira node Kugamuchira node
ID
Cycle ms
Kugamuchira Nguva Yekupera (ms)
Chassis inodzorwa newaya
Chisarudzo chekutonga chikwata
0x241
20ms
Hapana
Data urefu
0x08
Position
Function
Data type
Tsanangudzo
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byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
Remote control SW mhinduro
Kurudyi joystick kuruboshwe uye kurudyi Kurudyi joystick kumusoro
uye pasi Kuruboshwe joystick kumusoro
ndokudzika Kuruboshwe joystick kuruboshwe
uye kurudyi Kuruboshwe knob VRA
Reserved Count cheki
isina kusaina in8
yakasaina int8 yakasainwa int8 yakasainwa int8 yakasainwa int8
-isina kusaina int8
zvishoma [0-1]: SWA 2-kumusoro 3-pasi zvishoma [2-3]: SWB 2-kumusoro 1-pakati 3-pasi zvishoma [4-5]: SWC 2-kumusoro 1-pakati 3-pasi
zvishoma [6-7]: SWD 2-up 3-down Value range [-100,100] Value range [-100,100] Value range [-100,100] Value range [-100,100] Value range [-100,100] 0x00 loop count-0
Tafura 3.12 Battery BMS data mhinduro
Command
Node yekutumira
Node yekugamuchira
Dhiraivha-ne-waya chassis
Sarudzo-yekuita uye control unit
Data urefu
0x08
Byte
Meaning
Iyo data yemhinduro yeBMS
ID
Period ms
Gamuchira nguva yekupera (ms)
0x361
500ms
Hapana
Data type
Cherechedza
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byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7] Command
Bhatiri SOC
State of Charge
isina kusaina in8
Bhatiri SOH (Nyika ye
Utano)
isina kusaina in8
High order byte yebhatiri voltage Low order byte yebhatiri voltage
isina kusaina in16
High order byte yebhatiri yazvino Low order byte yebhatiri razvino
yakasaina int16
High order byte yebhatiri tembiricha
Low order byte yebhatiri tembiricha
yakasaina int16
Range 0 ~ 100 Range 0 ~ 100 Chikamu: 0.01 V
Chikamu: 0.1 A
Chikamu: 0.1
Tafura 3.13 Battery BMS data mhinduro
Iyo data yemhinduro yeBMS
Node yekutumira
Node yekugamuchira
Dhiraivha-ne-waya chassis
Sarudzo-yekuita uye control unit
ID 0x362
Period ms
Gamuchira nguva yekupera (ms)
500ms
Hapana
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Data urefu Byte
0x04 zvinoreva
Data type
byte [0]
Alarm Status 1
isina kusaina in8
byte [1]
Alarm Status 2
isina kusaina in8
byte [2]
Yambiro Status 1 isina kusaina int8
byte [3]
Yambiro Status 2 isina kusaina int8
Cherechedza
BIT1: Kuwedzeredzatage; BIT2: Undervoltage; BIT3: Kupisa kwepamusoro; BIT4: Kupisa kwakadzika; BIT7: Kuburitsa
overcurrent
BIT0: Kuchaja overcurrent
BIT1: Kuwedzeredzatage; BIT2: Undervoltage; BIT3: Kupisa kwepamusoro; BIT4: Kupisa kwakadzika; BIT7: Kuburitsa
overcurrent
BIT0: Kuchaja overcurrent
3.3.3
BUNKER
MINI
2.0 ROS
Package
Usage
Example
ROS inopa mamwe akajairwa masisitimu ekushandisa masevhisi, senge Hardware abstraction, yakaderera-level dhizaini kudzora, kuita mabasa akajairwa, inter-process messaging, uye data packet management. ROS yakavakirwa pane graphical architecture, kuitira kuti maitiro emanode akasiyana anogona kugamuchira, kushambadza, uye kuunganidza ruzivo rwakasiyana (sekunzwa, kutonga, nyika, kuronga, nezvimwewo). Parizvino ROS inonyanya kutsigira UBUNTU.
Development
kugadzirira
Hardware
kugadzirira CANlight inogona kutaurirana module X1 Thinkpad E470 Laptop X1 AGILEX BUNKER MINI 2.0 mobile robhoti chassis X1
29 / 38
AGILEX BUNKER MINI 2.0 inotsigira kure kure FS-i6s X1 AGILEXBUNKER MINI 2.0 yepamusoro yeaviation chigadziko X1 Nzvimbo
tsananguro
of
kushandiswa
exampuye Ubuntu 18.04 ROS Git
Hardware
kubatana
uye
kugadzirira
Dhonza mutsetse weCAN weBUNKER MINI 2.0 4-core aviation kana rear plug, wobatanidza CAN_H neCAN_L muCAN line kune CAN_TO_USB adapter zvichiteerana;
Batidza chassis knob switch yeBUNKER MINI 2.0 mobile robhoti, uye tarisa kana emergency stop switch pamativi ese ari kuburitswa;
Batanidza CAN_TO_USB kune USB port yelaptop. Dhiyagiramu yekubatanidza inoratidzwa muMufananidzo 3.4.
Mufananidzo 3.4 CAN mutsara wekubatanidza dhayagiramu
ROS
Installation
uye
Environment
Gadzirira
Kuti uwane ruzivo rwekuisa, ndapota tarisa ku http://wiki.ros.org/kinetic/Installa-tion/Ubuntu
Test
ZVINOGONA
hardware
uye
CAN
kutaurirana
Seta iyo CAN-TO-USB adapta Gonesa iyo gs_usb kernel module
sudo modprobe gs_usb Seta baud chiyero ku500k uye gonesa iyo CAN-TO-USB adapta
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sudo ip link set can0 up type inogona bitrate 500000
Kana pasina kukanganisa mumatanho apfuura, unogona kutarisa michina yeCAN nemurairo uri pazasi
ifconfig -a
Isa uye shandisa can-utils kuyedza Hardware sudo apt install can-utils
Kana iyo CAN-TO-USB adapta yakabatana neTITAN uye TITAN yakabatidzwa, murairo uri pazasi unogona kushandiswa kutarisa data kubva kuTITAN.
candump can0
Ndokumbira utarise ku: [1] https://github.com/agilexrobotics/agx_sdk [2] https://wiki.rdu.im/_pages/Notes/Embedded-System/-Linux/can-bus-in-linux. html
AGILEX
BUNKER
ROS
PACKAGE
Download
uye
compile
Dhawunirodha ros dependencies
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard Clone uye nyora bunker_ros source code
mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src git clone https://github.com/agilexrobotics/ugv_sdk.git git clone https://github.com/agilexrobotics/bunker_ros.git cd .. catkin_make source devel/setup.bash
Reference https://github.com/agilexrobotics/bunker_ros
Tanga
the
ROS
node
Tanga nheyo node
roslaunch bunker_bringup bunker_robot_base.launch
Mhanyai keyboard_control node roslaunch bunker_bringup bunker_teleop_keyboard.launch
Github ROS yekuvandudza dhairekitori uye mirayiridzo yekushandisa
*_base :: Iyo yakakosha node yechassis kutumira uye kugamuchira hierarchical CAN meseji. Zvichienderana nemaitiro ekutaurirana e ros, inogona kudzora kufamba kwechasi uye kuverenga mamiriro eiyo bunker kuburikidza nemusoro wenyaya.
*_msgs: Tsanangura iyo chaiyo meseji fomati yechasisi mamiriro emhinduro yemusoro
*_bringup: kutanga files yechassis node uye keyboard control node, uye zvinyorwa zvekugonesa iyo usb_to_can module.
4
Shandisa
uye
kushanda
Kuti ubatsire vashandisi kukwidziridza firmware vhezheni yeBUNKER MINI 2.0 uye kuunza kune vatengi ruzivo rwakakwana, BUNKER MINI 2.0 inopa iyo hardware interface ye firmware kusimudzira uye inoenderana mutengi software.
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Upgrade
Kugadzirira
Agilex INOGONA kugadzirisa module X 1 Micro USB tambo X 1 BUNKER MINI chassis X 1 A komputa (WINDOWS OS (Operating System) X 1
Upgrade
Process
1.Sungai USBTOCAN module pakombiyuta, uye wozarura AgxCandoUpgradeToolV1.3_boxed.exe software (kutevedzana hakugoni kukanganisa, tanga wazarura purogiramu uye wobva wavhara mumodule, chigadziro hachizozivikanwi). 2.Dzvanya bhatani reOpen Serial, wobva wadzvanya bhatani remagetsi pamutumbi wemotokari. Kana iyo yekubatanidza ikabudirira, iyo vhezheni ruzivo rwehutongi huchazivikanwa, sezvakaratidzwa mumufananidzo.
3.Dzvanya iyo Load Firmware File bhatani rekuisa iyo firmware kuti ikwidziridzwe. Kana kurodha kwakabudirira, ruzivo rwe firmware ruchawanikwa, sezvinoratidzwa mumufananidzo
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4.Click node kuti uvandudzwe mubhokisi rezvinyorwa, uye ipapo chengeta Tanga Kuvandudza Firmware kuti utange kuvandudza firmware. Mushure mekunge kukwidziridzwa kwabudirira, pop-up bhokisi richakurumidza.
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5
Q&A
Q:
BUNKER
MINI
2.0 inotanga
kazhinji,
asi
the
motokari
muviri
anoita
kwete
kufamba
pamwe
the
kure
kudzora? A: Chekutanga, tarisa kana switch yemagetsi yakatsikirirwa uye kana iyo emergency stop switch yaburitswa, wobva wasimbisa kana iyo control mode yakasarudzwa nemodhi yekusarudza switch iri kumusoro kuruboshwe rweremote control ndeyechokwadi.
Q:
Rini
the
BUNKER
MINI
2.0 kure
control
is
zvakajairika,
the
chassis
state
uye
kufamba
ruzivo
mhinduro
is
zvakajairika,
uye
the
control
furemu
protocol
is
kubudiswa,
sei
the
motokari
muviri
control
mode
haikwanise
be
chinja,
uye
chassis
anoita
kwete
pindura
ku
the
control
furemu
protocol? A: Mumamiriro ezvinhu akajairwa, kana BUNKER MINI 2.0 ichigona kudzorwa neremote control, zvinoreva kuti chassis motion control yakajairika, uye inogona kugamuchira mhinduro yechasi, zvinoreva kuti CAN yekuwedzera link yakajairika. Ndokumbira utarise kana murairo wachinjirwa kuCAN control mode..
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Q:
Rini
the
zvakakodzera
kutaurirana
is
kutakurwa
kunze
kuburikidza
the
CAN
bhazi,
uye
the
chassis
mhinduro
command
is
zvakajairika,
sei
anoita
the
motokari
do
kwete
pindura
pashure
the
control
is
yakabudiswa? A: BUNKER MINI 2.0 ine nzira yekudzivirira yekukurukurirana mukati. Chassis ine nguva yekudzivirira nzira kana uchibata nekunze CAN control mirairo. Tichifunga kuti mushure mekunge mota yawana chimiro chekutaurirana protocol, haigamuchire inotevera furemu yekuraira mirairo yeanopfuura 500MS, uye ichapinda mukudzivirira kwekutaurirana nekumhanya kwe0, saka murairo kubva kune iyo komputa inotambira inofanirwa kuve nguva nenguva. rakabudiswa.
6
Product
Dimensions
6.1 Mienzaniso
of
chigadzirwa
outline
dimensions
6.2
Mifananidzo
of
pamusoro
kuwedzera
bracket
dimensions
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Zvinyorwa / Zvishandiso
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AgileX 2023.09 Robotics Chikwata [pdf] User Manual 2023.09 Chikwata cheRobhoti, 2023.09, Chikwata cheRobhoti, Chikwata |
 |
AgileX 2023.09 Robotics Chikwata [pdf] User Manual 2023.09 Chikwata cheRobhoti, 2023.09, Chikwata cheRobhoti, Chikwata |