MoMa Overview and Programming

About the MoMa Project

The Mobile Manipulator (MoMa) project was developed at NHL Stenden University of Applied Sciences to enhance the learning experience in the Electrical Engineering, Mechanical Engineering, and Computer Science programs. It serves as an advanced, integrated platform for research and application development in robotics and automation.

MoMa 3D Render

Figure 1: 3D Render of the Mobile Manipulator (MoMa)

Educational Mission: A Tiered-Access Architecture

A core challenge in educational robotics is creating a platform that is simple enough for beginners yet powerful enough for advanced students. MoMa addresses this with a "tiered-access" control architecture designed to serve users with vastly different skill sets:

  • Novice Users (1st-Year): Can interact with the robot at a high level using the user-friendly web interface and task planner, understanding core concepts of automation without needing to code.
  • Intermediate Users (2nd/3rd-Year): Can explore programming logic and data flow using the integrated Node-RED environment, connecting different services and protocols with a gentle learning curve.
  • Advanced Users (4th-Year & Project Students): Can leverage the full power of the ROS2 framework for low-level hardware access, enabling them to implement and test their own algorithms for AI, 3D perception, and complex motion planning.

Technology Stack

Hardware

  • AMR: Omron LD90 Autonomous Mobile Robot
  • Robotic Arm: 6-DoF Omron TM5M-900 Collaborative Arm
  • Gripper: Robotiq 2F-85
  • 3D Perception: Stereolabs ZED 2i Depth Camera
  • AI Compute: NVIDIA Jetson AGX Orin

Software & Frameworks

  • Core Framework: ROS2 (Robot Operating System 2)
  • Web Interface: PHP, JavaScript (ROSLIB.js, Chart.js), HTML/CSS
  • Visual Programming: Node-RED
  • Industrial Protocols: Modbus TCP, OPC UA
  • File Server Backend: Python (Flask)

Project Resources & Downloads

The following resources are available for download to support learning and development with the MoMa platform. Downloads are handled via the project's File Server API.

  • AI Software Development Paper (PDF)

    The official research paper detailing the project's design, architecture, and implementation.

    Download Paper
  • MoMa User Manual (PDF)

    A comprehensive guide for the operation and programming of the MoMa, from basic setup to advanced control.

    Download Manual
  • Modbus Example Project (ZIP)

    An example project for a compatible PLC (e.g., CodeSys) to demonstrate control over the MoMa via Modbus TCP.

    Download Modbus Example
  • Node-RED Example Flow (JSON)

    An example flow for Node-RED that shows how to subscribe to topics, call services, and control the MoMa.

    Download Node-RED Flow

Acknowledgements

This project was developed by Steven Pennock as part of the 4th Year Electrical Engineering program at NHL Stenden University of Applied Sciences.