1 / 74

Project Cybot/OSCAR

Project Cybot/OSCAR. February 19, 2002. Introduction. Project Advisor Dr. Ralph Patterson Project Co-Leaders Kivanc Kahya, CprE, 2 nd Semester John Davidson, CprE, 2 nd Semester. Introduction. Project includes two robots Octagonal, Speech-Controlled, Autonomous Robot (OSCAR) Cybot

mkiger
Download Presentation

Project Cybot/OSCAR

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. ProjectCybot/OSCAR February 19, 2002

  2. Introduction • Project Advisor • Dr. Ralph Patterson • Project Co-Leaders • Kivanc Kahya, CprE, 2nd Semester • John Davidson, CprE, 2nd Semester

  3. Introduction • Project includes two robots • Octagonal, Speech-Controlled, Autonomous Robot (OSCAR) • Cybot • OSCAR is new and nearing completion • Cybot is old and remains semi-functional • Project consists of 5 sub-teams

  4. Project Sub-Teams • Motion Control • Upgrade/maintain motion control hardware • End-Effector • Create an arm, wrist, and gripper assembly • Sensor • Create and maintain a reliable sensing system • Software • Develop control and user-interface software • Power • Supply sufficient power for all sub-systems

  5. Sub-team Personnel Financial Motion Control 266 $112.00 End-Effector 582 $664.00 Software 365 $287.00 Sensors 167 $9.00 Power 135 $62.00 Team Leaders 175 $0.00 Totals 1690 $1134.00 Project Budget

  6. Motion Control

  7. Members • Brooks Graner (CprE –2nd) Sub-Team Leader • Boon-Siang Cheah (CprE –2nd) • Robert Milliken (EE – 1st) • Chao-Hern Wong (EE – 1st)

  8. Problem Statement • Failure of motion control system of OSCAR • Current motor driver circuit design flaws • Same design as Cybot, but larger motor load causes problems • Failure of motion control system of Cybot • New motor driver design for OSCAR • New H-Bridge controller • More attention to layout • Hysterisis and capacitive load issues • Motor load issues • Restore Cybot’s motion (time permitting) • Worked in the past, what went wrong?

  9. Design Objectives • Research, Design, Implement new motor driver circuit for OSCAR • New H-Bridge controller (TPS2811) • Suggested by Rockwell Collins • Needs to work with current microcontroller (LM629) • Needs to work with current MOSFET’s • Test motors for characteristics • Have no data on motors • Needed for design of circuit • Restore Cybot’s motion • Design is good • Possibly a bad chip

  10. End Product Description • OSCAR will have full motion capabilities • Forward, backward, rotate left and right • Efficient, stable circuit • Cybot will have motion restored

  11. Assumptions & Limitations • Assumptions • Microcontroller design good • Software will work for new design • Will have funding for new H-Bridge controller chips • Limitations • Team members have busy schedules • Limited budget • Part ordering takes time

  12. Risks & Risk Management • Time – Goal to have OSCAR functional by VEISHEA • Regular weekly meetings • Part ordering • Order parts early in semester • Will design work? • Intensive research • Outside assistance

  13. Technical Approach • Motion Control System interaction Computer Motion Control System Motor(s)

  14. Technical Approach Motion Control System CPU CPU Interface Motion Controller Motor Driver Motor Motion Detector

  15. Milestones • Motor data aquired • New H-Bridge Controller • New circuit layout • Implementation of new circuit • OSCAR Moves! • Cybot Moves

  16. Description Quantity Unit Price Total Poster Dues 4 $3.00 $12.00 LM 629 2 $25.00 $50.00 Misc. Parts $50.00 Total $112.00 Financial Budget

  17. Personnel Budget

  18. Additional Work • Aid End Effector in design of arm motion circuitry • Figure out current H-Bridge problem • It works on Cybot

  19. Summary • Main goal: Make OSCAR move • Design new motor driver circuit • Restore Cybot’s motion (time permitting)

  20. End-Effector

  21. Members • Yan-Chak Cheung (EE – 2nd) Sub-Team Leader • Chris Trampel (EE – 2nd) • Muhammed Rahim (EE – 2nd) • Thi-Ha Soe (EE – 1st) • Mike Nguyen (CprE – 1st) • Matt Baird (ME – 1st) • Tony Gartner (ME – 1st) • Chad Harbour (ME – 1st)

  22. Problem Statement • Modification of the wrist • Design and build control circuits and software for motor control • Build the whole arm

  23. Design Objectives • Full range of movement • Move at reasonable speed • Lift 2 lb objects • 1 lb at full arm extension • Lift 3” diameter objects • Controlled by OSCAR’s central computer

  24. End Product Description • The arm will be pivoted at the center of the robot • Gripper could hold items 3” wide

  25. Technical Approach • Research on existing control circuits • Modify the current wrist and gripper design • Develop detailed schematics for the control circuit boards • Develop software control

  26. Control Circuit Motion Controller LM 629 Half-Bridge MOSFET Driver LT 1158 PWM Half-Bridge Quadrature Incremental Feedback PC DC Motor Motion Controller LM 629 Half-Bridge MOSFET Driver LT 1158 PWM Half-Bridge

  27. Assumptions & Limitations • Assumptions: • Sufficient funding for the fabrication of arm • All motors will operate at 12 volts • Limitations: • Arm pivoted on top of OSCAR • Use JAVA to write the program

  28. New Wrist Design • Number of motors reduced from two to one • Lateral wrist movement removed (for now)

  29. Reasons For New Design • Stemmed from budget constraints • Previous design very over budget • Motors and gearing most expensive components • Lateral wrist movement considered least necessary

  30. Other Possibilities • Making power distributor for motors • Would allow for more than one function for a motor • Could be applied to the shoulder joint as well • This would be done by simple transmissions or clutches

  31. Risks & Risk Managements • Cost of development • Availability of parts • Power Consumption of motors • Search for cheaper parts • Look for cheaper designs • Buy widely used parts at the beginning of the semester • Search for parts with low power consumption

  32. Milestones • Gripper is functional • Detailed modified drawings of wrist • Determination of cheaper motors and materials

  33. Financial Budget

  34. Personnel Budget

  35. Summary • Gripper is ready to move • Modification of wrist completed

  36. Sensor Team

  37. Members • Waqar Habib (EE –2nd) Sub-Team Leader • John Stacy (CprE –1st) • Sze-Yiing Tan (CprE – 1st)

  38. Problem Statement • Video (Image) Processing – Identify objects such as a wall or person • Compass – Increase the accuracy • Sonar – Repair and maintain the faulty sonar sensors

  39. Design Objectives • Accurate, convenient and reliable data for video imaging • Modular design • Software interface • Collect information for software sub-team • Future expandability

  40. End Product Description • Video Imaging ability • Eight individual distance measuring sensors • Temperature and direction sensing ability • Simple computer interface • Modular design

  41. Assumptions & Limitations • Operated in a fixed environment for video imaging • One sonar fires at a time • One sensing function will be done at any given time • Accurate distance measurement between 1.5 feet-30 feet • Environment temperature is accurate between 32 and 112 degrees Fahrenheit • Limited memory available for data logging

  42. Risks & Risk Managements • Defective Parts • Lack of Team Participation • Loss of a Team Member

  43. Technical Approach • 1655 analog compass produces a pair of outputs: 1 sine wave & 1 cosine wave • Outputs reflect rotational orientation of compass with respect to earth’s magnetic poles

  44. Technical Approach • Outputs read 3.1 volts at peak of wave & 1.9 volts at trough of wave. • Micro-controller measures outputs using A/D converters • Trig calculations produce exact orientation of compass in degrees Azimuth

  45. Milestones • Groundwork for imaging processing • Reduce error of compass to +/- 5º Azimuth • Completion of interface with on-board computer • Completed sensor system physically installed on OSCAR • Finalization of documentation for sensor sub-system • Begin research for future implementations

  46. Description Quantity Unit Price Total Poster Dues 3 $3.00 $9.00 Total $9.00 Financial Budget • No hardware or equipment will be purchased this semester

  47. Personnel Budget

  48. Summary • Reliable and consistent sensory system • Provide enough data to make autonomous and educational decisions • Variety of different sensing capabilities to operate safely and successfully • Image processing sensor • 8 sonar sensors • Temperature sensor • Navigational compass • Make data available to software sub-team to implement OSCAR’s decision-making

  49. Software

  50. Members • Sastra Winarta (CprE –2nd) Sub-Team Leader • Tom Allen (CprE –1st) • Julianto Leonardo (CprE – 1st) • Joseph Lahart (CprE – 1st)

More Related