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RP10 Robotics Platform Team Cyberdyne Final Presentation

RP10 Robotics Platform Team Cyberdyne Final Presentation. Sahil Verma Adam Nabinger Paul Berens Joseph Wertz Karl Orosz. Jeff Kinner Aaron Sevedge Kyle Swift John Nowak. Sponsor and Project Goal. Sponsor – RIT Mechanical Engineering Dept. Dr. Wayne Walter Faculty Coach

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RP10 Robotics Platform Team Cyberdyne Final Presentation

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  1. RP10 Robotics PlatformTeam CyberdyneFinal Presentation Sahil Verma Adam Nabinger Paul Berens Joseph Wertz Karl Orosz Jeff Kinner Aaron Sevedge Kyle Swift John Nowak

  2. Sponsor 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

  3. Rotation motor Drive motor Microcontroller Motor modules

  4. Features and Requirements • 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

  5. System Overview Microsoft Robotics Developer Studio (MRDS) Model VPL Simulation Platform Control Application Platform API .NET Other bindings . . . Wired (Serial Cable) Motion commands, diagnostics RP10 Microcontroller (MCU) Motors Batteries Drive Platform Software Encoders Steer

  6. Platform Characteristics • Simulink model • Voltage input • Theoretical Position, velocity and acceleration output • Accounts for variable power inputs and motor module configurations

  7. Platform Characteristics • Results • Max. Velocity = 1.3 m/s (walking speed) • Max. Accel = 1.9 m/s2 • Travels 6 meters in 5 seconds

  8. SolidWorks Model

  9. SolidWorks to MRDS Save .asm files as .wrl Open .wrland save as .obj MRDS Import .obj (1 per entity)

  10. 3D Model

  11. MRDS Simulation Status • Model – success • Test application – success • Simulation – failure • Architecture • Support

  12. API Design and Rationale • Extensibility • Protocols • Applications • Easy configuration • Different hardware • Various motors • Test at any layer

  13. API 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

  14. API Status • Complete • Generic Robot API • 2 Protocols (Serial and MINDSTORMS) • Instruction Manual • Micro controller Code

  15. Control Application GUI Status • Visual representation of the hardware configuration • Enables for each motor • Various control methods

  16. Platform Electrical Problems • Motor channel communication • Voltmeter and oscilloscope signal testing • Fuse diagnosing • Hardware dismantling and more signal testing

  17. Trade-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

  18. Lego Demo

  19. Looking 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

  20. Questions?

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