RP10 Robotics Platform RP10 Robotics Platform Team Cyberdyne Final Presentation Sahil Verma Adam Nabinger Paul Berens Joseph Wertz Karl Orosz Jeff Kinner Aaron Sevedge Kyle Swift John Nowak

Sponsor 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 motor Rotation motor Motor modules Microcontroller

Features and Requirements 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 Overview Motors Encoders Batteries Microcontroller (MCU) Platform Software RP10 Steer Drive Wired (Serial Cable) Platform Model Platform API.NETOther 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/s 2 – Travels 6 meters in 5 seconds

SolidWorks Model

MRDS Save.asm files as.wrl Open.wrl and save as.obj Import.obj (1 per entity) SolidWorks to MRDS

3D Model

MRDS Simulation Status Model – success Test application – success Simulation – failure – Architecture – Support

Extensibility – Protocols – Applications Easy configuration – Different hardware – Various motors Test at any layer

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

Control Application GUI Status Visual representation of the hardware configuration Enables for each motor Various control methods

Platform Electrical Problems Motor channel communication – Voltmeter and oscilloscope signal testing Fuse diagnosing – Hardware dismantling and more signal testing

Trade-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 Demo

Looking 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?