Omnidirectional Robots for Cooperative Tasks 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 ID: 618016
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Slide1
Team of Omnidirectional Robots for Cooperative Tasks
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 UniversitySlide2
Problem StatementTo 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
, MartinsonSlide3
Concept Diagram adopted from May-09-05 Senior Design Group
Concept
DiagramSlide4
Functional RequirementsMovement
2.1.1.1: Speed - 2 m/s
2.1.1.2: Acceleration - 6 m/s2
2.1.1.3: Omnidirectional2.1.3.1: Relative position ± 2cm wheel encodersCommunication
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% @ 2A2.1.5.2: Motor: 6-14V @ 12AMotor Control2.1.5.1 Quadrature encoders2.1.5.4 Reconfigurable control loop
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, MartinsonSlide5
Non-functional RequirementsPhysical
2.2.1.1: Weight < 1.5 kg
2.2.1.2: 18cm diameter, 15cm tall
Computer Hardware2.2.2.1: x86 architecture2.2.2.2: Floating Point Unit2.2.2.3: PC/104+
2.2.2.4: $2000 or less
Power System
2.2.3.1: Battery over discharge
Integration
2.2.5.1: Localization system
2.2.5.2: Upload code/commands
2.2.5.3: Linux2.2.5.4: Run old codeOmnidirectional Robots – Senior Design ‘11 Beinhart ,
Clausman
, MartinsonSlide6
Assumptions and LimitationsAssumptions
Old bots can handle new collaborative tasks
x-y-z coordinate system will be available
Robots constrained to 'playing area'LimitationsGroup size - previously groups of 6-7Backwards compatibilityRequired physical similarities
Camera delay (200 ms)
Omnidirectional Robots – Senior Design ‘11
Beinhart
,
Clausman
, MartinsonSlide7
Market SurveyThe Robocup
competition
Cornell has the most recognized design and had been reference heavily when designing our robot.
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, MartinsonSlide8
Risks and MitigationsRisks
Mitigation
Power board design could fail
Inability to interface with legacy system
Future groups not being able to use our system
Advisor design review
Work closely with advisor Matt Griffith who is experienced with legacy system
Good documentation practices
Omnidirectional Robots – Senior Design ‘11
Beinhart
,Clausman, MartinsonSlide9
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Cost Estimation
Physical
Computer Hardware
Wheels*
$200.00
CPU Board
$565.00
Motors*
$1,000.00
Motor Controller
$229.00
Frame*
$50.00
Motor Drivers X2
$119.90
Ball Launcher
$50.00
TTL to RS232
$9.99
Power System
802.11-G card
$49.99
Batteries
$107.98
IMU
$125.00
Board*
$50.00
I/O Board
$169.00
Compact Flash Card*
$20.00
Total Cost
$2,695.86
Parts with (*) have not been ordered and prices are approximateSlide10
Power System
Power Board
Motor Driver
Motor
Batteries
Physical System
Frame
Drive train
Wheels
Computer Hardware
CPU
PC/104+
Motor Controller
I/O Board
Wireless
PC/104
OTHER i/o
IMU
Wheel Encoder
Software System
Legacy System
APIs
Drivers
Linux Kernel
Design OverviewSlide11
Software OverviewOmnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
Software System
APIs
Drivers
Linux Kernel
Legacy System
Linux Desktop
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 robotSlide12
Design: LegacyAIs
Control program development environment
Makefile
ServicesHidden from programmerProcessing wireless packets, reading sensors, motor controlCross CompilationAIs compiled on Linux desktop
Compilation flags for Atom N270
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, MartinsonSlide13
Design: Drivers, APIDrivers
Motor controller
IMU
IO BoardAPIMotor controlvoid MotorController::
initMotor
(
struct
motor_t
&motor)void
MotorController::setMotorSpeeds()Sensor ManagerSensorManager::init() run(float dt)readMotorEncoders(knet_dev_t *device,
struct
motor_encoder_info_t
&out)
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, MartinsonSlide14
Computer Hardware
CPU
PC/104+
Motor Controller
I/O Board
Wireless
PC/104
OTHER i/o
IMU
Wheel Encoder
Design: Computer Hardware
Main System
CPU Board – Diamond Systems Pluto
Motor Controller – MESA
SoftDMC
Motor Controller
Peripheral
I/O Board – TS ADC16
IMU -
Pololu
CHR-6d
Wireless –
NetGear
WG111
Omnidirectional
Robots – Senior Design ‘11
Beinhart
,
Clausman
, MartinsonSlide15
Stack Connectors for PC104+Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, MartinsonSlide16
Design: CPU – Diamond Pluto
Intel Atom N270 1.6
ETX Form Factor
USB2.0/CFII/PC104+5v @ ~2AOmnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, MartinsonSlide17
Design: Peripherals
I/O Board – TS ADC16
Two 16 bit ADCs at 100kHz each
16 single ended, 8 differential channelIMU – Pololu CHR-6d3 accelerometer, 3 gyro axisARM Cortex Processor
TTL 3.3 converted to RS-232
+/- 3gs of acceleration
Wireless –
NetGear
WG111
USB2.0 Wireless G adapter
Linux community driver supportOmnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, MartinsonSlide18
Design: Motor Controller – MESA SoftDCM
4I68 FPGA based PC104-PLUS
400K gate Xilinx Spartan3
72 programmable I/O bits50 Mhz crystal oscillatorPC104+ bus
VHDL Motor Controller
200k logic units
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, MartinsonSlide19
Design: Power System
Power Board
Input: 6~16V
Output:3.3V @ 2A5V @ 4A6~12V @ 60AMotorsFaulhaber
2232006SR
6VDC nominal
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
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)Slide20
Design: Physical SystemWheels
Similar to Wheels on
Kryten
(May 08 Team)Injection MoldedABS PolymerCheaply Mass ProducedOmnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, MartinsonSlide21
Design: Physical SystemFrame
Lower COM
Larger Battery
Kryten & DalecOmnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, MartinsonSlide22
Formation TaskGoals
Polygon shaped
Obstacle avoidance
Xbox controllerApproachEach robot has target locationOffset from virtual robot based on geometric shapeFormation rotates to avoid obstaclesXbox controller, point and vector of the formation
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, MartinsonSlide23
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson
R
R
R
R
R
R
R
R
R
R
R
R
Triangle formation avoiding obstacle Slide24
Testing and VerificationTest cases for all requirements have been developed.
Motor controller response characteristics
To be completed next semester
Omnidirectional Robots – Senior Design ‘11
Beinhart
,
Clausman
, MartinsonSlide25
Task Breakdown – Building Bot
Peter
Wheel design
Power system designMatlab SimulationStructural designJosh
Porting to legacy system
SoftDMC
FPGA Integration
Linux
Seth
Ensure documentation gets finished by deadlines
Hardware SelectionIO DriversTesting legacy system integrationOmnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman
, MartinsonSlide26
Task Breakdown – Formations
Peter
Robot Dynamics
Matlab SimulationsResearching possible solutions to taskSethTask implementation
Testing
Josh
Researching possible solutions to task
Task implementation
Omnidirectional Robots – Senior Design ‘11
Beinhart
,Clausman, MartinsonSlide27
Schedule – Spring
Omnidirectional Robots – Senior Design ‘11
Beinhart
,Clausman, MartinsonSlide28
Schedule – Fall
Omnidirectional Robots – Senior Design ‘11
Beinhart
,Clausman, MartinsonSlide29
Where We StandProficient with legacy system
Motor Controller, integrate AIs
Hardware
OrderedPower BoardWheels designed, production over summerOmnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, MartinsonSlide30
Next SemesterBuild the Robot
Wheels, motor mounts & frame manufactured
Complete design of power system
Fully assembledIntegrationLegacy system fully functional on new robotTesting and VerificationTest cases completed!
Formation cooperative task
As time permits.
Omnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, MartinsonSlide31
Q/A SessionOmnidirectional Robots – Senior Design ‘11 Beinhart ,Clausman, Martinson