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Boe-Bot Control using Advanced Gyroscopic and Servo Technology: Overview, Demonstration, and Programming

This presentation explores the Boe-Bot control system, detailing its advanced technology utilizing gyroscopes and servo mechanisms. We focus on the functionality of sensors like the ADXRS150 and how they input angular rates for precise motion control. The programming is conducted through LabView, integrating signals for effective maneuverability. The demonstration highlights control features, error correction for slippage, and programming challenges. Join us as we delve into a hands-on experience with robotics and motion control technology.

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Boe-Bot Control using Advanced Gyroscopic and Servo Technology: Overview, Demonstration, and Programming

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Presentation Transcript

  1. Boe-Bot Control Alex Ahmadi John Hoffman Andres Huertas Azeem Meruani Simcha Singer

  2. Overview • Technology Background • Demonstration • Programming Details • Q&A

  3. Technology Background: Gyroscopes • Angular rate sensors • ADXRS150 • Voltage proportional to angular rate about axis normal • Resonator Gyro • Coriolis force during angular rate • Capacitive sensing • Similar to Accelerometer • Closed loop can drive amplitude to zero • Capacitive sensing

  4. Technology Background: Servos • Control • Pulsing signal line • 1-2 msec pulses • 10-40 msec intervals • Programming • LabView control based on gyroscope data

  5. Technology Background: Boe-Bot • 2 wheels, 2 servos • Maneuvers • Vary speed ratio of wheels to turn or go straight • Error in slippage? • DAQ input signals for control

  6. Demonstration

  7. Programming Details • LabView setup • Gyroscope VI’s, interaction • BasicStamp Calls • BasicStamp • Inputs from LabView • Executing commands

  8. Challenges • Windows limitations • LabView limitations • Other obstacles

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