RP10 Robotics PlatformRP10 Robotics PlatformTeam Cyberdyne

Final Presentation

Sahil VermaAdam Nabinger

Paul BerensJoseph Wertz

Karl Orosz

Jeff KinnerAaron Sevedge

Kyle SwiftJohn Nowak

Sponsor and Project GoalSponsor and Project Goal

• Sponsor – RIT Mechanical Engineering Dept.– Dr. Wayne Walter

• Faculty Coach– Dr. Jim Vallino

• Goal– Control software for robot platform– Full-scale 3D simulation of platform– Future use: RIT ME freshman classes

Drive motorRotation motor

Motor modules

Microcontroller

Features and Features and RequirementsRequirements

• Platform– Full control of rotation and drive motors

• Variable number of motors– GUI and text-based control applications– Multiple programming language bindings– Serial communication protocol and API

• Model– Description of platform characteristics– Full platform drive capabilities– 3D virtual model– Drive platform robot using same VPL

code

System OverviewSystem Overview

Motors

Encoders

BatteriesMicrocontroller (MCU)

Platform Software

RP10

Steer

Drive

Wired (Serial Cable)

Platform

Model

Platform API .NET Other bindings . . .

Control Application

Microsoft Robotics Developer Studio (MRDS) Simulation

Motion commands, diagnostics

VPL

• Simulink model – Voltage input– Theoretical Position, velocity and

acceleration output– Accounts for variable power inputs and motor

module configurations

• Results– Max. Velocity = 1.3 m/s (walking speed)– Max. Accel = 1.9 m/s2

– Travels 6 meters in 5 seconds100% Power - 2 Motor Modules

-1

0

1

2

3

4

5

6

7

0 1 2 3 4 5 6

Time (s)

Velocity (m/s)

Acceleration (m 2̂/s)

Position (m)

SolidWorks ModelSolidWorks Model

MRDS

Save .asm files as .wrl

Open .wrl and save as .obj

Import .obj (1 per entity)

SolidWorks to MRDSSolidWorks to MRDS

3D Model3D Model

MRDS Simulation StatusMRDS Simulation Status

• Model – success• Test application – success• Simulation – failure

– Architecture– Support

Platform API

RP10

Robot

Serial

RP10Lab

«interface»IProtocol

Motor

Encoder

Motorbay

1

*

Control Applications

Graphical Textual

RP10Lego

LegoUSBFT

• Extensibility– Protocols– Applications

• Easy configuration– Different

hardware– Various motors

• Test at any layer

API FeaturesAPI Features

• Control any number of motors• Read from motor encoders• Read from digital inputs• Write to digital output• Write to analog output• Read battery voltage• Watch dog monitor

API StatusAPI Status

• Complete– Generic Robot API– 2 Protocols (Serial and MINDSTORMS)– Instruction Manual – Micro controller Code

Control Application GUI Control Application GUI StatusStatus

• Visual representation of the hardware configuration

• Enables for each motor

• Various control methods

Platform Electrical Platform Electrical ProblemsProblems

• Motor channel communication– Voltmeter and oscilloscope signal testing

• Fuse diagnosing– Hardware dismantling and more signal testing

Trade-OffsTrade-Offs

• Platform– Moved most processing off MCU onto PC– Use MINDSTORMS robot in lieu of working

platform– Only .NET binding

• Model– Visible entity movement in MRDS– Solidworks .obj instead of Collada .dae

Lego DemoLego Demo

Looking ForwardLooking Forward• Platform

– Working hardware– Sensor support– Language bindings– Encoder support – new microcontroller

• Model– Continued pursuit of MRDS

• Has needed capabilities (user-friendly simulation)

• MUST have qualified MRDS expert

– Test platform characteristics

Questions?Questions?