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Omnidirectional Robot

Omnidirectional Robot. Senior Design 2010 Group 01 Members: Team Leader: Seth Beinhart Peter Martinson Joshua Clausman Advisors: Dr. Nicola Elia Matt Griffith Client: Department of Electrical and Computer Engineering Iowa State University. Purpose.

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Omnidirectional Robot

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  1. Omnidirectional Robot Senior Design 2010 Group 01 Members: Team Leader: Seth Beinhart Peter Martinson Joshua Clausman Advisors: Dr. Nicola Elia Matt Griffith Client: Department of Electrical and Computer Engineering Iowa State University

  2. Purpose • To build a third omnidirectional robot for Dr. Nicola Elia’s research on cooperative tasks in distributed robotics • Robot design should be simple enough so that additional robots can be easily produced • To create collaborative tasks for three robots which support the direction of Dr. Elia’s research Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  3. Legacy Robots – Kryten & Dalec • Strengths to keep • Small profile • Software system • Limitations to overcome • Computational limitations • Motor power limited • Wheel production • Computer hardware not in production Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  4. Legacy Vision System Overhead Camera • (x,y) localization system • Vision algorithm run LabView • Localization packets sent WiFi with robot ID Robot Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  5. Legacy I/O Server • Ubuntu desktop • SHH to robots and load AIs • AI is program to control robot • WiFi • Scripts: drive mounting, libraries • GUI to upload programs and manually control robots • Data logging system Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  6. Legacy Concept Diagram Concept Diagram adopted from May-09-05 Senior Design Group

  7. Requirements • Computer and Software • x86, Linux, integrate previous system, overcome comp limits, I/O board, IMU, PC/104+ • Wheels • Easily reproducible, omnidirectional • Electrical • Variable motor power, old battery swap • Physical • Size, Weight, Speed, Acceleration Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  8. Requirements Changes • Dropped • I/O board – due to compatibility and integration time • IMU – Still in project and tested on bench, not mounted • Variable motor power supply • Requirements changed mostly due to equipment failure and lack of integration time Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  9. Design Overview Legacy Software System Linux, Drivers, APIs Computer Hardware Power System Physical System Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  10. Design: Computer Hardware • Main System • CPU Board – Diamond Systems Pluto • Motor Controller – MESA SoftDMC Motor Controller • Peripheral • IMU - Pololu CHR-6d • Wireless – NetGear WG111 Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  11. Design: Computer Boards • Diamond Systems Pluto • Intel Atom N270 1.6GHz • ETX Form Factor • USB2.0/CFII/PC104+ • 2 GB • 5v @ ~2A • 4I68 FPGA • 400K gate Xilinx Spartan3 • 72 programmable I/O bits • 50 Mhz crystal oscillator • PC104+ bus • SoftDMC 4 axis VHDL motor controller • Requires ~200k logic units • Mesa Electronics Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  12. Design: Peripherals • IMU – Pololu CHR-6d • 3 accelerometer, 3 gyro axis • ARM Cortex Processor • TTL 3.3 converted to RS-232 • Wireless – NetGear WG111 • USB2.0 Wireless G adapter • Linux community driver support Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  13. Design: Power System • Power Board • Input: 6~16V • Output: • 3.3V @ 2A • 5V @ 4A • 6~12V @ 60A • Batteries • Motors • Motor Drivers • 20kHz PWM • 2 channel 5.5-16V 0-14A • Current Sensing Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  14. Design: Physical System • Wheels • Modified schematic from Kryten • Injection molded • ABS polymer • Cheaply mass produced • Frame • Lower COM • Larger Battery • Kryten & Dalec • Dual layer Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  15. Implementation: Software Sensor Manager • Linux – Ubuntu 10.10 • Legacy Integration • libconfig • Scripts • Cross compilation Sensor config Robot ID, IP addr Network Libconfig Localization IP addr parameters Motor controller Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  16. Implementation: Software • Motor Controller • Legacy Code: MotorController.cpp • Driver: DMCCom.cpp • IMU • Legacy Code: SensorManger.cpp • Driver: imu.cpp, serial.cpp • Encoders • Legacy Code: SensorManger.cpp • Driver: DMCCom.cpp Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  17. Implementation: Computer • PC/104+ • Serial - TTL SoftDMC IMU Pluto TTL-Serial Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  18. Implementation: Motor Controller • SoftDMC • Source provided by Mesa Electronics • Modified VHDL • Dual PWM • Pin assignments • Upload program • Linux program for 4i65 (PLX 9030) • Changed for 4i68 (PLX 9054) Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  19. Implementation: Power • 5 VDC Supply • Pluto • Murata Power Solutions OKR-T/6 CD/CD Converter • 4.-14VDC input, 0.591-6.0 VC @ 6A output • 3.3 VDC • IMU, motor drivers, intermediate motor logic • Murata Power Solutions NGA 10S15033SC DC/DC Converter • 4.75-28 VDC input, 3.3 VDC @ 2A output • Motors run directly off battery power Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  20. Implementation: Frame • Plate • 18 cm diameter x 15 cm • Diagonal slots to bypass wires • Motor Mount • 1016 Aluminum • CNC Mill Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  21. Implementation: Drive Train • Wheels • ABS plastic • Wire ring • Rollers from mold • Transmission • Series 20/1 Planetary Gearhead • Motors • Faulhaber Series 2232006 SR DC Motors Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  22. Implementation: Wiring • Connector board • Motor, encoders, driver out, 3.3V power • FPGA 8 pin connectors • FPGA PWM to drivers • Motor encoder to FPGA • Batteries • To power board • To motor drivers Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  23. Testing: Computer • Localization packets • Previously developed AIs • Arithmetic operation comparison • Startup time • ~ 2 min 47 sec • Serial • 115200 BAUD • 1000 packets, size 30 bytes • 10% packet error • Retransmission policy Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  24. Testing: Power • Computer Power • 5V +/-5% • 4.95V • -1% • 3.3V +/-5% • 3.15V • -4.5% • Motor Power • 20A/motor peak @ 7.4V Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  25. Team Evaluation • Large undertaking, splitting up not always best approach • Still have final touches: IMU mount, generate SoftDMCconfigs, more testing • “Tales from the Crypt” • Motor controller • IO board • Linux flash drive…the night before • Motor drivers • Wheels Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  26. Future improvements • Software – none, integrated smoothly • Hardware – I/O board, current sensing • Motor Controller – Velocity based PID • Electrical – Variable motor voltage Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  27. Special thanks to… Leland Harker for everything electronical James Rasmussen for helping with CNC machining Peter Wallace and all the techs at Mesa Electronics for answer our onslaught of emails and sending us lots of cards Larry Couture for helping with mold design and injection molding Matt Griffith for being the resident ‘wizard’ Dr. Elia letting us spend all his money and still buying us Chinese! (and all his help of course) Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  28. Questions? Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

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