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OMNI BOT

OMNI BOT. Brian Kosoris Yuriy Pasrev Bahati Gitego Jeroen Waning Christopher Armour September 7, 2011. OmniBot System Overview. Contoller Block Diagram Sensor Overview Signal Conditioner Control Processes Actuator Output. Controller Block Diagram. Sensor Overview. Signal Conditioner.

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OMNI BOT

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  1. OMNI BOT Brian Kosoris Yuriy Pasrev Bahati Gitego Jeroen Waning Christopher Armour September 7, 2011

  2. OmniBot System Overview • Contoller Block Diagram • Sensor Overview • Signal Conditioner • Control Processes • Actuator Output

  3. Controller Block Diagram

  4. Sensor Overview

  5. Signal Conditioner

  6. Red- All data from sensors are fed through a filter. Green - State Variables not requiring approximation go to the controller from here. Blueand Purple – All data requiring approximation goes to the controller from here.

  7. Controller Processes

  8. Actuator Output

  9. Design Requirements • The Brain • The Body

  10. OmniBot’s Brain • Required Functions: • Measure sensed data from the accelerometer, the gyro, and the optical encoder, and send to the serial monitor of the Arduino. • Quickly read a complex algorithm which will toggle the motors on and off to maintain balance. • Read analysis data originating from the three onboard sensors to create • a control algorithm used to adjust OmniBot’s balance orientation.

  11. OmniBot Brain Parts

  12. OmniBot’s Body Requirements / Functions: Serve as housing for on-board electronics. The “Arms” keep the wheel assembly in contact with the ball and form the support structure for the “Body”. The “Body” is 1m tall measured from the center of the ball. It’s height aides in balance control

  13. OmniBot Body Parts • The most current design goes here.

  14. Design Progression

  15. Design Progression

  16. Design Progression

  17. Sketch 1. • Ball diameter • Wheel dynamics • Lengths and Angles

  18. PROGRESS

  19. CONTINUED PROGRESS

  20. Project Approach

  21. Analysis • Arduino Code (August-6) • Arduino Code (September-9) • Planetary Gearbox (August-31) • Sabertooth Motor Driver (August-31) • C++ Algorithm (September-7)

  22. Simulation and Testing • Micro-controller (September - 5) • Motor (August – 31) • Battery Auguest – 31) • Driver board (Auguest – 25)

  23. Minimum Success Criteria • The bot will balance or “stand” on ball and absorb all external forces smaller than 10 nm. • The bot corrects its position on ball, never tilting more than 5˚ toward horizontal.

  24. Available Resources ?Budget ?Sponsors?Team Chart/ Assignment? Overall Schedule?

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