B
-
Upload
veenadivyakish -
Category
Documents
-
view
215 -
download
1
description
Transcript of B
-
AS-84.3149 BionicsProject work spring 2008
-
Project work 2008Implement a Blind guide robot Analyze data from whisker sensors attached to the J2B2 robot and control robot so that it follows a markedTry to follow a path on the floor as accurately and quickly as possibleGet to know how to combine different tools for robot control (Simulink -> C)A final competition for different groups
-
Whisker sensorsWhisker sensors are build by attaching a whisker on a capacitive microphoneThis way whisker movement is sensed as change in voltageWhisker oscillation and movement can then be analyzed in time or frequency domainDue to non-industrial production of whiskers, they are not exactly similar
-
Data translation systemThe voltage from microphone is amplified and low-pass filtered using a analog filter-amplifier boardAmplified signal is A/D converted using a DSP prosessor board. The DSP does further low-pass filtering and sends the results trough RS-232 port as data packages at 250Hz frequencyDSPanalog voltageamplifiedanalog voltageRS-232
-
Data translation systemOne data package contains a starting byte (0x44), 8 data bytes and a end byte, which is contains package index (0-255)Each data byte corresponds to voltage output from 0 to 255, nominal (no movement) is 127The whiskers used for project are 1, 2, 3 and 5.0x448 data bytes index byte
-
Controlling the robotThe robot is controlled using an interface made in C++Project work however is done in matlab / simulink and the code is compiled to C-code using real-time workshop c-compilerSimulinkC-codeExecutableC-compilercompile withrobotinterface
-
SimulinkData is read to matlab and analyzedThen a simulink model is used to develop a control for the robotFor testing: Test_Environment, for controlling Driving_environment
-
CompilingCompilation to c-code is compiled easily with simulink, be sure to follow project work instructions carefully!Compiling with interface is done with Devcpp-programming environment, you dont have to make many changes, compilation should be easy
-
Connecting to robotWhen running the code, the laptop must be connected to robot with ethernet cable with following connection settings:IP: 192.168.10.2, Gateway: 192.168.10.1If you want to use internet change the settings to:IP: 130.233.120.81, Gateway: 130.233.120.254
-
Testing with robotThere is a simple ready-made user interface for robot control:Drive robot with a,w,s and dTerminate control thread for whiskers tExit application ESCRead the code in main.cpp for more accurate instructions
-
General stuffALWAYS leave the robot power chord on when not working (and maybe also when working)Read instructions for robot use from: http://automation.tkk.fi/AS-84-3145-ProjectWork/ImportantReserve the robot beforehand using reservation book at robot room (2551)
-
Outline of project workAnalyze data from whiskers using matlabCreate a control to follow, using whiskers and robot bumpers and test itWrite a report of the data-analysis and algorithm implementationA final competition between groups