RP10 Robotics Platform Team Cyberdyne Final Presentation
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Transcript of RP10 Robotics Platform Team Cyberdyne Final Presentation
RP10 Robotics PlatformRP10 Robotics PlatformTeam Cyberdyne
Final Presentation
Sahil VermaAdam Nabinger
Paul BerensJoseph Wertz
Karl Orosz
Jeff KinnerAaron Sevedge
Kyle SwiftJohn Nowak
Sponsor and Project GoalSponsor and Project Goal
• Sponsor – RIT Mechanical Engineering Dept.– Dr. Wayne Walter
• Faculty Coach– Dr. Jim Vallino
• Goal– Control software for robot platform– Full-scale 3D simulation of platform– Future use: RIT ME freshman classes
Drive motorRotation motor
Motor modules
Microcontroller
Features and Features and RequirementsRequirements
• Platform– Full control of rotation and drive motors
• Variable number of motors– GUI and text-based control applications– Multiple programming language bindings– Serial communication protocol and API
• Model– Description of platform characteristics– Full platform drive capabilities– 3D virtual model– Drive platform robot using same VPL
code
System OverviewSystem Overview
Motors
Encoders
BatteriesMicrocontroller (MCU)
Platform Software
RP10
Steer
Drive
Wired (Serial Cable)
Platform
Model
Platform API .NET Other bindings . . .
Control Application
Microsoft Robotics Developer Studio (MRDS) Simulation
Motion commands, diagnostics
VPL
• Simulink model – Voltage input– Theoretical Position, velocity and
acceleration output– Accounts for variable power inputs and motor
module configurations
• Results– Max. Velocity = 1.3 m/s (walking speed)– Max. Accel = 1.9 m/s2
– Travels 6 meters in 5 seconds100% Power - 2 Motor Modules
-1
0
1
2
3
4
5
6
7
0 1 2 3 4 5 6
Time (s)
Velocity (m/s)
Acceleration (m 2̂/s)
Position (m)
SolidWorks ModelSolidWorks Model
MRDS
Save .asm files as .wrl
Open .wrl and save as .obj
Import .obj (1 per entity)
SolidWorks to MRDSSolidWorks to MRDS
3D Model3D Model
MRDS Simulation StatusMRDS Simulation Status
• Model – success• Test application – success• Simulation – failure
– Architecture– Support
Platform API
RP10
Robot
Serial
RP10Lab
«interface»IProtocol
Motor
Encoder
Motorbay
1
*
Control Applications
Graphical Textual
RP10Lego
LegoUSBFT
• Extensibility– Protocols– Applications
• Easy configuration– Different
hardware– Various motors
• Test at any layer
API FeaturesAPI Features
• Control any number of motors• Read from motor encoders• Read from digital inputs• Write to digital output• Write to analog output• Read battery voltage• Watch dog monitor
API StatusAPI Status
• Complete– Generic Robot API– 2 Protocols (Serial and MINDSTORMS)– Instruction Manual – Micro controller Code
Control Application GUI Control Application GUI StatusStatus
• Visual representation of the hardware configuration
• Enables for each motor
• Various control methods
Platform Electrical Platform Electrical ProblemsProblems
• Motor channel communication– Voltmeter and oscilloscope signal testing
• Fuse diagnosing– Hardware dismantling and more signal testing
Trade-OffsTrade-Offs
• Platform– Moved most processing off MCU onto PC– Use MINDSTORMS robot in lieu of working
platform– Only .NET binding
• Model– Visible entity movement in MRDS– Solidworks .obj instead of Collada .dae
Lego DemoLego Demo
Looking ForwardLooking Forward• Platform
– Working hardware– Sensor support– Language bindings– Encoder support – new microcontroller
• Model– Continued pursuit of MRDS
• Has needed capabilities (user-friendly simulation)
• MUST have qualified MRDS expert
– Test platform characteristics
Questions?Questions?