Hardware Implementation in Developing Wheeled Soccer Robot for Middle Size League

The mechanical design of a robot will affect the performance that a robot can provide. In order to reach the maximum limitation on robot performance, the consideration of hardware components must be well implemented. Our robot has 3 bases. The first base is used as locomotion part, the second base for ball handling and kicking mechanism, and the third base is used as the upper body for vision placement. The average error generated by odometry reading of the on the x and y-axes is about 9.764%. The resulting overshoot on the dribbler motor is 24.77% with a maximum error of 0.34697 m/s. We obtained the correlation between the PWM signal and initial velocity of the ball kicked. For the vision system, it has successfully captured almost 360 degrees views of the field and it accurately locates the ball position to the robot itself. The maximum view of this vision system is 6.5 meter.