rp10 robotics platform rp10 robotics platform team cyberdyne final presentation sahil verma adam...
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![Page 1: RP10 Robotics Platform RP10 Robotics Platform Team Cyberdyne Final Presentation Sahil Verma Adam Nabinger Paul Berens Joseph Wertz Karl Orosz Jeff Kinner](https://reader036.vdocuments.us/reader036/viewer/2022070412/56649ea45503460f94ba8306/html5/thumbnails/1.jpg)
RP10 Robotics PlatformRP10 Robotics PlatformTeam Cyberdyne
Final Presentation
Sahil VermaAdam Nabinger
Paul BerensJoseph Wertz
Karl Orosz
Jeff KinnerAaron Sevedge
Kyle SwiftJohn Nowak
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Sponsor and Project GoalSponsor and Project Goal
• Sponsor – RIT Mechanical Engineering Dept.– Dr. Wayne Walter
• Faculty Coach– Dr. Jim Vallino
• Goal– Control software for robot platform– Full-scale 3D simulation of platform– Future use: RIT ME freshman classes
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Drive motorRotation motor
Motor modules
Microcontroller
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Features and Features and RequirementsRequirements
• Platform– Full control of rotation and drive motors
• Variable number of motors– GUI and text-based control applications– Multiple programming language bindings– Serial communication protocol and API
• Model– Description of platform characteristics– Full platform drive capabilities– 3D virtual model– Drive platform robot using same VPL
code
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System OverviewSystem Overview
Motors
Encoders
BatteriesMicrocontroller (MCU)
Platform Software
RP10
Steer
Drive
Wired (Serial Cable)
Platform
Model
Platform API .NET Other bindings . . .
Control Application
Microsoft Robotics Developer Studio (MRDS) Simulation
Motion commands, diagnostics
VPL
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• Simulink model – Voltage input– Theoretical Position, velocity and
acceleration output– Accounts for variable power inputs and motor
module configurations
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• Results– Max. Velocity = 1.3 m/s (walking speed)– Max. Accel = 1.9 m/s2
– Travels 6 meters in 5 seconds100% Power - 2 Motor Modules
-1
0
1
2
3
4
5
6
7
0 1 2 3 4 5 6
Time (s)
Velocity (m/s)
Acceleration (m 2̂/s)
Position (m)
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SolidWorks ModelSolidWorks Model
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MRDS
Save .asm files as .wrl
Open .wrl and save as .obj
Import .obj (1 per entity)
SolidWorks to MRDSSolidWorks to MRDS
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3D Model3D Model
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MRDS Simulation StatusMRDS Simulation Status
• Model – success• Test application – success• Simulation – failure
– Architecture– Support
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Platform API
RP10
Robot
Serial
RP10Lab
«interface»IProtocol
Motor
Encoder
Motorbay
1
*
Control Applications
Graphical Textual
RP10Lego
LegoUSBFT
• Extensibility– Protocols– Applications
• Easy configuration– Different
hardware– Various motors
• Test at any layer
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API FeaturesAPI Features
• Control any number of motors• Read from motor encoders• Read from digital inputs• Write to digital output• Write to analog output• Read battery voltage• Watch dog monitor
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API StatusAPI Status
• Complete– Generic Robot API– 2 Protocols (Serial and MINDSTORMS)– Instruction Manual – Micro controller Code
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Control Application GUI Control Application GUI StatusStatus
• Visual representation of the hardware configuration
• Enables for each motor
• Various control methods
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Platform Electrical Platform Electrical ProblemsProblems
• Motor channel communication– Voltmeter and oscilloscope signal testing
• Fuse diagnosing– Hardware dismantling and more signal testing
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Trade-OffsTrade-Offs
• Platform– Moved most processing off MCU onto PC– Use MINDSTORMS robot in lieu of working
platform– Only .NET binding
• Model– Visible entity movement in MRDS– Solidworks .obj instead of Collada .dae
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Lego DemoLego Demo
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Looking ForwardLooking Forward• Platform
– Working hardware– Sensor support– Language bindings– Encoder support – new microcontroller
• Model– Continued pursuit of MRDS
• Has needed capabilities (user-friendly simulation)
• MUST have qualified MRDS expert
– Test platform characteristics
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Questions?Questions?