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Holonomic Robot

Holonomic Robot. Holobot. Igor Kruhak 4-28-2003. Holonomic Robot. Holonomic Robot. What does holonomic mean? Velocity constraints are holonomic if they force a curve in state space to stay in a proper subspace. Robot can turn 360  without moving its pivot point.

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Holonomic Robot

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  1. Holonomic Robot Holobot Igor Kruhak 4-28-2003

  2. Holonomic Robot

  3. Holonomic Robot • What does holonomic mean? • Velocity constraints are holonomic if they force a curve in state space to stay in a proper subspace. • Robot can turn 360 without moving its pivot point. • Can change directions at any given point

  4. Holonomic Robot • Advantages of holonomic robots: • Maneuver in very tight spaces • Hardware easy to see and understand • Can teach linear programming and math • Allows flexibility to programming • RMI • Preprogrammed instructions • Instructions on the fly

  5. Holonomic Robot • Main parts of the Robots are: • Basic Stamp II • Omni-wheels • Carrying hardware • Circuit board • Batteries • PDA

  6. Holonomic Robot • Difference from PPRK project • PPRK uses Palm OS vs. WinCE • PPRK programmed in C vs. java RMI • Holobot uses javax.comm for WinCE • Holobot has wireless capability • HP 5450 used for Holobot’s server • Basic Stamp II vs. Pontech SV203 • Setting CLASSPATH for WinCE

  7. Holonomic Robot • How does the Holobot move? • Impulses sent to servos from stamp • Stamp receives speeds from RMI server • Time received from RMI server • Omni-wheels allow movement in any direction • Direction depends on which servo receives the impulse the Basic Stamp II

  8. Holonomic Robot • Holobot environment: • Artificial turf • 1” metal piping walls with 3” insulation

  9. Holonomic Robot

  10. Holonomic Robot • Presets: • 1 1 1 • straight • 1 0 0 • turn right • 1 0 1 • spin right • 0 0 0 • turn left • 0 0 1 • spin left

  11. Holonomic Robot • Difficulties with the project: • Running java RMI on the PDA • Installing javax.comm on the PDA • Setting up the CLASSPATH on WinCE • Constructing the hardware for the Holobot • Writing Basic Stamp II program

  12. Holonomic Robot Questions?

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