Development of intelligent robot systems based on sensor control
Robot Control Systems
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Transcript of Robot Control Systems
February 19, 2007 Created by Dr. T.E. Varnado
Robot Control Systems
TED 384
Computer Applications in Industry (Robotics Education)
February 19, 2007 Created by Dr. T.E. Varnado
RCX
• 16-bit processor• One Piezoelectric
speaker produces 6 distinct tones and can ‘carry a tune’
• Sends messages back and forth using IR communication– Computer– RCX to RCX
http://everyschool.org/u/westlake/robby/6thGrade/TechofLegos/RCX3.gif
February 19, 2007 Created by Dr. T.E. Varnado
NXT
• 32-bit processor, 64K RAM, 256K flash memory• LCD screen and piezo speakers• 4 input ports, 3 output ports, wired USB 2.0
connection
http://davidbau.com/images/photo/nxtcloseup.jpg
February 19, 2007 Created by Dr. T.E. Varnado
NXT
• Bluetooth enabled
• Supports servos, meaning faster, stronger, and more precise motion (sensitive to 1° of 360°)
http://photos1.blogger.com/blogger/7893/2789/1600/howitworks.gif
February 19, 2007 Created by Dr. T.E. Varnado
VEX
• VEX controller directly manages sensor and motor devices
https://jvex-robotics.dev.java.net/VEXController.html
February 19, 2007 Created by Dr. T.E. Varnado
VEX
• Two Microchip PIC 18F8520 microprocessors
• 10 MIPS• 1800 bytes + 1024
bytes EE2• 32 K RAM• SPI serial link, Ports
RS232 and TTLhttp://ww1.microchip.com/downloads/en/devicedoc/39609b.pdf
February 19, 2007 Created by Dr. T.E. Varnado
VEX
• Master processor manages signals from the RC receiver and generates PWM (Pulse Width Modulation) for motor and servo control
• User processor for software development
http://en.wikipedia.org/wiki/Pulse-width_modulation
February 19, 2007 Created by Dr. T.E. Varnado
VEX
• Six Interrupt Inputs
• 16 max Digital I/O, 50 kHz
• 16 max Analog Inputs, 10 µSec
http://utkudiril.com/serendipity/uploads/project3_2.JPG