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Sunday, August 13, 2017

Review of the ROBOTIS TurtleBot 3 ,UPDATED (08/27/2017)

The TurtleBot3 is another in a long line of high quality robot kits from Robotis. The kit is also a open sourced hardware and software kit which is near and dear to my heart. As I am a huge believer in the open sourced approach to robotic development. The main hardware for the robot is the Raspberry Pi running a Ubuntu Mate OS with ROS (Robot Operating System). The main sensor for the Burger and Waffle is a  LDS(LASER Distance Sensor) which can do SAM (Simultaneous Localization and Mapping). Another cool feature of the kit is that must of the parts are 3D printable. You can find all of the CAD files in the OnShape web application. Just search for ROBOTIS in the public files. Link. 

Specifications of the LDS.

Operating supply voltage5V DC ±5%
Light sourceSemiconductor Laser Diode(λ=785nm)
LASER safetyIEC60825-1 Class 1
Current consumption400mA or less (Rush current 1A)
Detection distance120mm ~ 3,500mm
Interface3.3V USART (230,400 bps) 42bytes per 6 degrees, Full Duplex option
Ambient Light Resistance10,000 lux or less
Sampling Rate1.8kHz
Dimensions69.5(W) X 95.5(D) X 39.5(H)mm
MassUnder 125g
Distance Range120 ~ 3,500mm
Distance Accuracy (120mm ~ 499mm)±15mm
Distance Accuracy(500mm ~ 3,500mm)±5.0%
Distance Precision(120mm ~ 499mm)±10mm
Distance Precision(500mm ~ 3,500mm)±3.5%
Scan Rate300±10 rpm
Angular Range360°
Angular Resolution
 Link for more information about the LDS sensor.

SLAM or Simultaneous Localization and Mapping "is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it." link.

Other Hardware:

Maximum translational velocity0.22 m/s0.26 m/s
Maximum rotational velocity2.84 rad/s (162.72 deg/s)1.82 rad/s (104.27 deg/s)
Maximum payload15kg30kg
Size (L x W x H)138mm x 178mm x 192mm281mm x 306mm x 141mm
Weight (+ SBC + Battery + Sensors)1kg1.8kg
Threshold of climbing10 mm or lower
Expected operating time2h 30m2h
Expected charging time2h 30m
MCU32-bit ARM Cortex®-M7 with FPU (216 MHz, 462 DMIPS)
IMUGyroscope 3 Axis
Accelerometer 3 Axis
Magnetometer 3 Axis
Power connectors3.3V / 800mA
5V / 4A
12V / 1A
Expansion pinsGPIO 18 pins
Arduino 32 pin
PeripheralUART x3, CAN x1, SPI x1, I2C x1, ADC x5, 5pin OLLO x4
Dynamixel portsRS485 x 3, TTL x 3
AudioSeveral programmable beep sequences
Programmable LEDsUser LED x 4
Status LEDsBoard status LED x 1
Arduino LED x 1
Power LED x 1
Buttons and SwitchesPush buttons x 2, Reset button x 1, Dip switch x 2
BatteryLithium polymer 11.1V 1800mAh / 19.98Wh 5C
PC connectionUSB
Firmware upgradevia USB / via JTAG
Power adapter (SMPS)Input : 100-240V, AC 50/60Hz, 1.5A @max
Output : 12V DC, 5A
Not sure what will happen to the Waffle because Intel is phasing out production of the Joule? When I find out more information about the Waffle and its production I will write a blog post about it.

Link to Turtlebot3 documentation. 

What stands out to me about the TurtleBot3 kit.

So the Turtlebot3 brains are the Raspberry Pi 3 running Ubuntu Mate with ROS (Robot Operating System). 

Link to more information about ROS.

Where to download Ubuntu Mate.

More information about the Raspberry Pi 3.

More information about the OPENCR control board.

MicrocontrollerSTM32F746ZGT6 / 32-bit ARM Cortex®-M7 with FPU (216MHz, 462DMIPS)
SensorsGyroscope 3Axis, Accelerometer 3Axis, Magnetometer 3Axis (MPU9250)
ProgrammerARM Cortex 10pin JTAG/SWD connector
USB Device Firmware Upgrade (DFU)
Extension pins32 pins (L 14, R 18) *Arduino connectivity
Sensor module x 4 pins
Extension connector x 18 pins
Communication circuitsUSB (Micro-B USB connector/USB 2.0/Host/Peripehral/OTG)
TTL (JST 3pin / Dynamixel)
RS485 (JST 4pin / Dynamixel)
UART x 2
LEDs and buttonsLD2 (red/green) : USB communication
User LED x 4 : LD3 (red), LD4 (green), LD5 (blue)
User button x 2
PowersExternal input source
5 V (USB VBUS), 7-24 V (Battery or SMPS)
Default battery : LI-PO 11.1V 1,800mAh 19.98Wh
Default SMPS: 12V 5A
External output source
External battery connect for RTC (Real Time Clock)
Power LED: LD1 (red, 3.3 V power on)
Reset button x 1 (for power reset of board)
Power on/off switch x 1
Dimensions105(W) X 75(D) mm

My un-boxing videos of the Turtlebot3.

My Assembly video of the Turtlebot3.

Layer one of the Turtlebot3.

Layer two of the Turtlebot3.

Layer three of the Turtlebot3.

Final layer of the TurtleBot3.


The Burger is 549.00 US and the Waffle is 1,779.00 US.

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