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Omnidirectional Robot

Omnidirectional Robot. Senior Design 2010 Group 01 Members: Josh Clausman Peter Martinson Seth Beinhart 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: Josh Clausman Peter Martinson Seth Beinhart 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. Concept Diagram Concept Diagram adopted from May-09-05 Senior Design Group

  4. Design • Computer • Intel Atom CPU (Diamond Systems Pluto) • FPGA based motor controller (MesaNetSoftDMC) • IO Board • IMU • Physical • Frame • Wheels Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  5. Completed so far… • Computer • Ubuntu Linux • SSH • Wireless • Serial communication with IMU • TTL converter • Modified serial driver • Communication works • FPGA sent in, coming back… Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  6. Completed so far… • Physical • Wheel design finished, sent to shop • Chassis design finalized • Power • Motor drivers tested, almost working  • Computer hardware power system complete • Motor power system design complete; waiting on parts Omnidirectional Robots – Senior Design ‘10 Beinhart ,Clausman, Martinson

  7. Schedule – Fall Seth October 1st – IMU driver implementation complete October 22th – IO Board implementation complete December 1st – Testing code for sensor system Josh October 1st – Linux configuration complete, Localization system November 1st – Motor Controller December 1st – Demo code Peter October 1st – Motor drivers October 8th – Frame, wheels and motor mounts October 15th – PCB layout for power system November 1st – Assembly completed December 1st – Testing of physical and power system Everyone November 15th – Project documentation December 1st – Class documentation December 8th – Full scale testing complete December 9th – Demos! End of Semester – Project documentation for future teams  Omnidirectional Robots – Senior Design ’10 Beinhart, Clausman, Martinson

  8. Questions? Omnidirectional Robots – Senior Design ’10 Beinhart ,Clausman, Martinson

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