Transcript Omnidirectional Robot - Iowa State University

Senior Design 2011
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
Problem Statement
 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
 Overcome power system, wheel design and computational
limitations of previous designs
 Cooperative tasks using robots as time permits
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Concept Diagram
Concept Diagram adopted from May-09-05 Senior Design Group
Functional Requirements
 Movement
2.1.1.1: Speed - 2 m/s
2.1.1.2: Acceleration - 6 m/s2
2.1.1.3: Omnidirectional
2.1.3.1: Relative position ±
2cm wheel encoders
 Communication
2.1.2.1: 802.11-G (WiFi)
2.1.3.2: Localization packets
 The power system:
2.1.4.1: CPU Module: 5V ±
5% @ 4A
2.1.4.4: Other: 3.3V ± 5% @
2A
2.1.5.2: Motor: 6-14V @ 12A
 Motor Control
2.1.5.1 Quadrature encoders
2.1.5.4 Reconfigurable
control loop
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Non-functional Requirements
 Physical
 Power System
2.2.3.1: Battery over discharge
2.2.1.1: Weight < 1.5 kg
2.2.1.2: 18cm diameter,  Integration
15cm tall
2.2.5.1: Localization system
2.2.5.2: Upload
 Computer Hardware
code/commands
2.2.2.1: x86 architecture
2.2.5.3: Linux
2.2.2.2: Floating Point
2.2.5.4: Run old code
Unit
2.2.2.3: PC/104+
2.2.2.4: $2000 or less
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Assumptions and Limitations
 Assumptions
 Old bots can handle new collaborative tasks
 x-y-z coordinate system will be available
 Robots constrained to 'playing area'
 Limitations
 Group size - previously groups of 6-7
 Backwards compatibility
 Required physical similarities
 Camera delay (200 ms)
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Market Survey
 The Robocup competition
 Cornell has the most recognized design and had been
reference heavily when designing our robot.
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Risks and Mitigations
Risks
Mitigation
 Power board design could fail
 Advisor design review
 Inability to interface with
 Work closely with advisor
legacy system
Matt Griffith who is
experienced with legacy
system
 Future groups not being able
to use our system
 Good documentation
practices
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Cost Estimation
Physical
Wheels*
Computer Hardware
$200.00 CPU Board
Motors*
$565.00
$1,000.00 Motor Controller
$229.00
Frame*
$50.00 Motor Drivers X2
$119.90
Ball Launcher
$50.00 TTL to RS232
Power System
Batteries
$9.99
802.11-G card
$49.99
$107.98 IMU
Board*
$125.00
$50.00 I/O Board
$169.00
Compact Flash Card*
Total Cost
$2,695.86
Parts with (*) have not been ordered and prices are approximate
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
$20.00
Design Overview
Computer Hardware
Software System
Wireless
I/O
Board
CPU
IMU
Linux
Kernel
Legacy
System
APIs
Motor
Controller
Wheel
Encoder
Physical System
Power System
Power Board
Drivers
Motor Driver
Frame
Drive train
Batteries
Motor
Wheels
Software Overview
 Feature-rich legacy software
 GUI for control
 AI development




environment
AI run control logic for robot
APIs called from AI
APIs call drivers for devices
Everything run on Linux
kernel on robot
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Software System
Linux
Desktop
Linux
Kernel
Legacy
System
APIs
Drivers
Design: Legacy
 AIs
 Control program development environment
 Makefile
 Services
 Hidden from programmer
 Processing wireless packets, reading sensors, motor
control
 Cross Compilation
 AIs compiled on Linux desktop
 Compilation flags for Atom N270
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Design: Drivers, API
 Drivers
 Motor controller
 IMU
 IO Board
 API
 Motor control


void MotorController::initMotor(struct motor_t &motor)
void MotorController::setMotorSpeeds()
 Sensor Manager
 SensorManager::init()
 run(float dt)
 readMotorEncoders(knet_dev_t *device, struct motor_encoder_info_t
&out)
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Design: Computer Hardware
 Main System
 CPU Board – Diamond Systems Pluto
 Motor Controller – MESA SoftDMC
Motor Controller
Computer Hardware
Wireless
 Peripheral
 I/O Board – TS ADC16
IMU
 IMU - Pololu CHR-6d
 Wireless – NetGear WG111
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
CPU
Motor
Controlle
r
I/O
Board
Wheel
Encoder
Stack Connectors for PC104+
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Design: CPU – Diamond Pluto
 Intel Atom N270 1.6
 ETX Form Factor
 USB2.0/CFII/PC104+
 5v @ ~2A
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Design: Peripherals
 I/O Board – TS ADC16
 Two 16 bit ADCs at 100kHz each
 16 single ended, 8 differential channel
 IMU – Pololu CHR-6d
 3 accelerometer, 3 gyro axis
 ARM Cortex Processor
 TTL 3.3 converted to RS-232
 +/- 3gs of acceleration
 Wireless – NetGear WG111
 USB2.0 Wireless G adapter
 Linux community driver support
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Design: Motor Controller – MESA
SoftDCM
 4I68 FPGA based PC104-
PLUS
 400K gate Xilinx Spartan3
 72 programmable I/O bits
 50 Mhz crystal oscillator
 PC104+ bus
 VHDL Motor Controller
 200k logic units
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Design: Power System
 Power Board
 Input: 6~16V
 Output:



3.3V @ 2A
5V @ 4A
6~12V @ 60A
 Motors
 Faulhaber 2232006SR
 6VDC nominal
 Motor Drivers
 20kHz PWM
 2 channel 5.5-16V 0-14A
 Current Sensing
 Batteries
 Thunder power Li-po
 7.4V(2 Cell) and/or
11.1V(3 Cell)
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Design: Physical System
 Wheels
 Similar to Wheels on Kryten (May 08 Team)
 Injection Molded
 ABS Polymer
 Cheaply Mass Produced
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Design: Physical System
 Frame
 Lower COM
 Larger Battery
 Kryten & Dalec
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Formation Task
 Goals
 Polygon shaped
 Obstacle avoidance
 Xbox controller
 Approach
 Each robot has target location

Offset from virtual robot based on geometric shape
 Formation rotates to avoid obstacles
 Xbox controller, point and vector of the formation
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Triangle formation avoiding obstacle
R
R
R
R
R
R
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Testing and Verification
 Test cases for all requirements have been developed.
 Motor controller response characteristics
 To be completed next semester
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Task Breakdown – Building Bot
 Peter
 Wheel design
 Power system design

Matlab Simulation
 Structural design
 Josh
 Porting to legacy system
 SoftDMC FPGA Integration
 Linux
 Seth
 Ensure documentation gets finished by deadlines
 Hardware Selection
 IO Drivers
 Testing legacy system integration
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Task Breakdown – Formations
 Peter
 Robot Dynamics
 Matlab Simulations
 Researching possible solutions to task
 Seth
 Task implementation
 Testing
 Josh
 Researching possible solutions to task
 Task implementation
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Jan 2010
ID
Task Name
Start
Finish
Feb 2010
Mar 2010
Apr 2010
Duration
3/1
1
Presentation 1 – Prepare and deliver
2/11/2010
2/16/2010
4d
2
Project Plan
2/11/2010
3/3/2010
15d
3
Design Document
4/1/2010
4/26/2010
18d
4
Legacy System Proficiency
2/1/2010
4/20/2010
57d
5
Hardware Selection
2/4/2010
2/22/2010
13d
10/1
17/1
24/1
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
31/1
7/2
14/2
21/2
28/2
7/3
14/3
21/3
28/3
4/4
11/4
18/4 25/4
Sep 2010
ID
Task Name
Start
Finish
Oct 2010
Nov 2010
Duration
5/9
1
Linux Functional on hardware
9/1/2010
9/15/2010
11d
2
Power Board Review
9/1/2010
9/10/2010
8d
3
Power Board Produced
9/10/2010
9/20/2010
7d
4
Robot Assembled
9/20/2010
10/1/2010
10d
5
Legacy Tasks Functional
10/1/2010
11/1/2010
22d
6
Testing and Verification
10/20/2010
11/26/2010
28d
7
Class presentations and artifacts
9/1/2010
11/26/2010
63d
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
12/9
19/9
26/9
3/10
10/10 17/10 24/10 31/10
7/11
14/11 21/11
Where We Stand
 Proficient with legacy system
 Motor Controller, integrate AIs
 Hardware
 Ordered
 Power Board
 Wheels designed, production over summer
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Next Semester
 Build the Robot
 Wheels, motor mounts & frame manufactured
 Complete design of power system
 Fully assembled
 Integration
 Legacy system fully functional on new robot
 Testing and Verification
 Test cases completed!
 Formation cooperative task
 As time permits.
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson
Omnidirectional Robots – Senior Design ‘11
Beinhart ,Clausman, Martinson