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13 : Omni-Directional Robot

13 : Omni-Directional Robot. Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nikola Elia. Project Goals. Update latest robot with upgraded components Both versions of the robots will be fully functional

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13 : Omni-Directional Robot

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  1. 13 : Omni-Directional Robot Ben Wolf Brent Cornelius Ed Cramer John Grabner James Grabner Advisor & Client: Dr. Nikola Elia

  2. Project Goals • Update latest robot with upgraded components • Both versions of the robots will be fully functional • Robot design should be well documented so that additional robots can be easily produced

  3. Use Case Scenarios • Collaborative robotics experimentation • Undergraduate Programming Lab • Control Systems Testing

  4. Example Programs • Follow The Leader • Actors: 1 human, 2 robots • One robot is controlled by a human (Xbox Controller) • The second robot must duplicate the motion of the first • Pong • Actors: 1 or 2 humans or robots • Play “pong” game using tennis balls • Inverted Pendulum • Actors: 1 robot • Robot balances an inverted pendulum on its “head” • Control systems testing

  5. Conceptual Diagram

  6. Functional Requirements • Add at least 4 analog inputs • Assess previously purchased RS-232 IMU, replace if necessary • Reduce Eris’ boot time to less than 30 seconds • Determine runtime of robot with existing batteries • System must have battery protection

  7. Non-Functional Requirements • Fully document robot assembly and operation • Standardize components • Improve system reliability

  8. System Block Diagram (Eris)

  9. Project Schedule

  10. Risks / Mitigations Risks • Matt Griffith, project maintainer, has moved away • Unclear project definition • Very little documentation • Two robot platforms to support • Preferred robot for future development is non-functional Mitigations • Ask Matt as many questions as possible while he was around • Contact previous team members for additional information • Avoid new features, fix the existing system first • Good documentation practices

  11. Questions?

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