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Trace: • Safety • Ethics • Intelligent control • Autonomy levels • Mobile robot platform

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en:projects:wheeled_robot [2010/03/09 07:37] – kristiseppaen:projects:wheeled_robot [2020/07/20 09:00] (current) – external edit 127.0.0.1
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 Mobile robot is one of the most popular robot for construction. Very common are sumo robots, sports robots (football, volleyball etc.), robots simulating rescue operations (firefighting, person or object finding etc.) and many other. For these kinds of robots there are many different competitions in the world and in Estonia, even standard classes have been developed (eg sumo robots). The common feature for these types of robots is mobile platform, which may have different construction and capabilities, but its main functionality remains the same. It is controlling the motors and basic navigation, which includes avoiding objects and travelling to the desired destination. Usually, a specific functionality is added to the main functionality, which is planned according to the requirements and opportunities set for the project. Mobile robot is one of the most popular robot for construction. Very common are sumo robots, sports robots (football, volleyball etc.), robots simulating rescue operations (firefighting, person or object finding etc.) and many other. For these kinds of robots there are many different competitions in the world and in Estonia, even standard classes have been developed (eg sumo robots). The common feature for these types of robots is mobile platform, which may have different construction and capabilities, but its main functionality remains the same. It is controlling the motors and basic navigation, which includes avoiding objects and travelling to the desired destination. Usually, a specific functionality is added to the main functionality, which is planned according to the requirements and opportunities set for the project.
  
-Here we look at documentation of a typical mobile robot platform project and its different phases.+Here we look at the documentation of a typical mobile robot platform project and its different phases.
  
-===== Preliminary tasks =====+===== Initial tasks =====
  
 Plan and construct a multifunctional mobile robot platform with basic navigation functionality using HomeLab components. Robot platform must have an easy-to-change operational functionality, when equipped with different gadgets:  Plan and construct a multifunctional mobile robot platform with basic navigation functionality using HomeLab components. Robot platform must have an easy-to-change operational functionality, when equipped with different gadgets: 
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   * Cannot exceed the cost limit 10 000 EEK   * Cannot exceed the cost limit 10 000 EEK
  
-~~PB~~ 
  
 ===== The overall model of the system  ===== ===== The overall model of the system  =====
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 [{{  :examples:projects:robot:robot_ideekavandid.png?500  |Design solutions}}] [{{  :examples:projects:robot:robot_ideekavandid.png?500  |Design solutions}}]
- 
-~~PB~~ 
  
 Simplified evaluation matrix was as following:  Simplified evaluation matrix was as following: 
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 |Complexity of building | 2 | 4 | 7 | 0,7 | |Complexity of building | 2 | 4 | 7 | 0,7 |
 |Maneuverability | 4 | 8 | 8 | 0,5 | |Maneuverability | 4 | 8 | 8 | 0,5 |
-|Permeability/läbitavus? | 5 | 8 | 2 | 0,3 |+|Permeability             | 5 | 8 | 2 | 0,3 |
 |Applicability of HomeLab | 5 | 4 | 5 | 0,9 | |Applicability of HomeLab | 5 | 4 | 5 | 0,9 |
 |Weight | 5 | 6 | 7 | 0,8 | |Weight | 5 | 6 | 7 | 0,8 |
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 Based on the assessment the optimum solution for given task was proved to be a platform moving on two wheels with two separate motors. Further work continued developing the chosen solution into a real system.  Based on the assessment the optimum solution for given task was proved to be a platform moving on two wheels with two separate motors. Further work continued developing the chosen solution into a real system. 
  
-~~PB~~ 
  
 ===== Mechanics ===== ===== Mechanics =====
  
-Mechanics was tried to make as simple as possible, while following the principle of modularity. The front and the rear bumper are identical modules. Electronics have three modules, which are placed on top of each other, allowing simple ribakaabelühendusi, while ensuring relatively simple changeability of modules. Motors have been selected from HomeLab kit: motors with integrated reducer and coder, which are connected directly to the actuator of the motors. Model aircraft wheels have been used, because they are very light and strong enough for the robot. To simplify the construction the bottom and the top plate are identical. Plates are equipped with holes, allowing different devices to be attached on the top plate. Besides the electronic modules a battery fits between the plates as well. +Mechanics was tried to make as simple as possible, while following the principle of modularity. The front and the rear bumper are identical modules. Electronics have three modules, which are placed on top of each other, allowing simple ribbon cable connections, while ensuring relatively simple changeability of modules. Motors have been selected from HomeLab kit: motors with integrated reducer and coder, which are connected directly to the actuator of the motors. Model aircraft wheels have been used, because they are very light and strong enough for the robot. To simplify the construction the bottom and the top plate are identical. Plates are equipped with holes, allowing different devices to be attached on the top plate. Besides the electronic modules a battery fits between the plates as well. 
  
 [{{  :examples:projects:robot:robot_3d.jpg?500  |Primary 3D model of the robot and location of its components. }}] [{{  :examples:projects:robot:robot_3d.jpg?500  |Primary 3D model of the robot and location of its components. }}]
  
-The bumper of the robot is projected separately and it is integrated with touch sensors and line following sensors. The bumper is made from PCBs and therefore has electricity in addition to construction. Line following sensors are soldered directly to the bumper of the bottom plate. Touch sensors (micro switches) are placed between the bumper plates and is covered by a single rubber piece at front. The rubber piece absorbs the hit and at the same time enables to identify where the hit came from. +The bumper of the robot is projected separately and it is integrated with touch sensors and line following sensors. The bumper is made from PCBs and therefore has electricity in addition to construction. Line following sensors are soldered directly to the bumper of the bottom plate. Touch sensors (micro switches) are placed between the bumper plates and are covered by a single rubber piece at front. The rubber piece absorbs the hit and at the same time enables to identify where the hit came from. 
  
 [{{  :examples:projects:robot:pamperi_joonis.jpg?500  |Bumper plate drawing}}] [{{  :examples:projects:robot:pamperi_joonis.jpg?500  |Bumper plate drawing}}]
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 [{{  :examples:projects:robot:robot_electronics.png?500  |Block diagram of electronic components}}] [{{  :examples:projects:robot:robot_electronics.png?500  |Block diagram of electronic components}}]
  
-~~PB~~+<pagebreak>
  
 As an example, Line following sensors electric scheme and respective PCB assembly scheme of the robot's bumper is shown. As an example, Line following sensors electric scheme and respective PCB assembly scheme of the robot's bumper is shown.
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 [{{  :examples:projects:robot:robot_pumper_pcb.png?500  |Assembly scheme of the bumper}}] [{{  :examples:projects:robot:robot_pumper_pcb.png?500  |Assembly scheme of the bumper}}]
  
-~~PB~~+<pagebreak>
  
 ===== Control system ===== ===== Control system =====
  
-The control system of the robot derives from behavioral model and is set by the functionality, requirements and restrictions of the initial task. From the behavioral model of the system a specified control program is created, which in turn is the basis for software program code. All three levels (behavioral model- algorithm- source code) must be consistent with each other. +The control system of the robot derives from behavioral model and is set by the functionality, requirements and restrictions of the initial task. From the behavioral model of the system a specified control program is created, which in turn is the basis for software program code. All three levels (behavioral model-algorithm-source code) must be consistent with each other. 
  
 ==== Algorithm ==== ==== Algorithm ====
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 // //
-// Mainprogram+// Main program
 // //
 int main(void) int main(void)
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 </code> </code>
  
-~~PB~~+
  
 ===== Ready-to-use solution ===== ===== Ready-to-use solution =====
  
-Robot platform completed under this project is largely made from plastic, except from motor mountings, which are made from aluminum. Electronic modules are placed on top of each other and the battery is loose between the plates. Bumpers are made from PCB and painted black. The top plate of the robot is completely flat, allowing there to attach different desired devices. A simple radar was installed on the robot, which consisted of a small RC servo motor and an infra red sensor. As a second solution, intelligent camera module was installed on the platform for solving machine vision problems. Both solutions are brought out on the following pictures. Standard manipulator was tested as a third device, which components are controlled with standard servo motors as well, using serial interface for controlling their actuator. +Robot platform completed under this project is largely made from plastic, except from motor mountings, which are made from aluminum. Electronic modules are placed on top of each other and the battery is loose between the plates. Bumpers are made from PCB and painted black. The top plate of the robot is completely flat, allowing to attach different desired devices. A simple radar was installed on the robot, which consisted of a small RC servo motor and an infra red sensor. As a second solution, intelligent camera module was installed on the platform for solving machine vision problems. Both solutions are brought out on the following pictures. Standard manipulator was tested as a third device, which components are controlled with standard servo motors as well, using serial interface for controlling their actuator. 
  
 [{{  :examples:projects:robot:robot_radar.png?580 |Robot with infrared radar}}] [{{  :examples:projects:robot:robot_radar.png?580 |Robot with infrared radar}}]
 [{{  :examples:projects:robot:robot_camera.png?580  |Robot with intelligent camera module (CMUcam3)}}] [{{  :examples:projects:robot:robot_camera.png?580  |Robot with intelligent camera module (CMUcam3)}}]
  
-~~PB~~ 
  
 ===== Economic calculation ===== ===== Economic calculation =====
  
-Economic calculation includes the cost of components and robot production costs+Economic calculation includes the cost of components and robot production costs. The currency used in following tables is Estonian Kroon (EEK).
  
-Tabel of components cost +Table of components cost 
  
 ^Component^Mark^Quantity^Price^Cost^ ^Component^Mark^Quantity^Price^Cost^
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 Economic calculation showed that the production cost of the robot is quite high, especially when dealing with a single original, but remains within a predetermined initial task. Production costs could certainly be substantially reduced through the optimization of materials and components, and producing a larger quantity of robots at the same time. During this project we learned how to project a mechatronic system, how to construct and test it, which gave us the first time experience of this kind.  Economic calculation showed that the production cost of the robot is quite high, especially when dealing with a single original, but remains within a predetermined initial task. Production costs could certainly be substantially reduced through the optimization of materials and components, and producing a larger quantity of robots at the same time. During this project we learned how to project a mechatronic system, how to construct and test it, which gave us the first time experience of this kind. 
  
-At the end of the work a fact revealed, that inorder for the robot to function properly significantly more time should be planned for testing, especially for the software testing. Different modules may not always work properly together, although as a separate experiment it works. This shows that the integration of the modules of the system is a serious challenge, and therefore more time and resources should be planned for this. +At the end of the work a fact revealed: in order for the robot to function properly significantly more time should be planned for testing, especially for the software testing. Different modules may not always work properly together, although as a separate experiment it works. This shows that the integration of the modules of the system is a serious challenge, and therefore more time and resources should be planned for this. 
  
 In conclusion, we believe that the project was very interesting and instructive, it gave an indication how to design and construct integrated systems.  In conclusion, we believe that the project was very interesting and instructive, it gave an indication how to design and construct integrated systems. 
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 ===== References and materials used ===== ===== References and materials used =====
  
-  - Home Lab generic manual http://home.roboticlab.eu +  - HomeLab generic manual http://home.roboticlab.eu 
-  - ATmega128 datasheet+  - ATmega2561 datasheet
   - Dudziak, R., Köhn, C., Sell, R., Integrated Systems & Design, TUT Press, 2008   - Dudziak, R., Köhn, C., Sell, R., Integrated Systems & Design, TUT Press, 2008
   - Friendenthal, S., Moore, A., Steiner, A., A Practical Guide to SysML, Elsevier, 2008   - Friendenthal, S., Moore, A., Steiner, A., A Practical Guide to SysML, Elsevier, 2008
   - Perens, A. Project Management, Külim, 1999   - Perens, A. Project Management, Külim, 1999
   - Bräunl, T. Embedded Robotics, Springer-Verlag, 2003   - Bräunl, T. Embedded Robotics, Springer-Verlag, 2003
en/projects/wheeled_robot.1268120279.txt.gz · Last modified: 2020/07/20 09:00 (external edit)
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