Presentation__2_PPT_2.0 - Reid's Testing Board

pleasanthopebrothersΗλεκτρονική - Συσκευές

2 Νοε 2013 (πριν από 4 χρόνια και 10 μέρες)

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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

1.
Red

-

All data from sensors are fed through a filter.


2.
Green

-

State Variables not requiring approximation go to the controller from here.


3.
Blue

and
Purple



All data requiring approximation goes to the controller from here.

Controller Processes

Actuator Output

Design Requirements


The Brain



The Body

Required Functions:


1.
Measure sensed data from the accelerometer, the gyro, and the
optical encoder, and send to the serial monitor of the
Arduino
.


2.
Quickly read a complex algorithm which will toggle the motors on
and off to maintain balance.


3.
Read analysis data originating from the three onboard sensors to
create


a control algorithm used to adjust
OmniBot’s

balance orientation.



OmniBot’s Brain

OmniBot Brain Parts


OmniBot’s Body

Requirements / Functions:


1.
Serve as housing for on
-
board electronics.


2.
The “Arms” keep the wheel assembly in contact with the ball
and form the support structure for the “Body”.


3.
The “Body” is 1m tall measured from the center of the ball. It’s
height aides in balance control





OmniBot Body Parts


The most current design goes here.

Design Progression

Design Progression

Design Progression

Sketch 1.


Ball diameter


Wheel dynamics


Lengths and Angles




PROGRESS

AUGUST

19

Brian

Began Ballbot

21

Bahati

Testing accelerometer

using Arduino micro
-

controller

23

Bahati

Ballbot modeling papers

24

Brain

Distributed directives

25

Yuriy

Researching motor specs

and motor driver board

26

Jeroen

Arduino code

26

Bahati

Succesfully received

data from gyro

27

Jeroen

Speed controllers?

28

Bahati

Expense report

30

Brain

Miscellaneous

30

Yuriy

Motor Data Sheet

HC683LG

31

Yuriy

Measurements, testing

31

Yuriy

Suggest planetary gearbox

31

Yuriy

Suggest and research

motor driver board

31

Yuriy

Suggest 2 chan over 4 chan

31

Yuriy

Suggest batteries

SEPTEMBER

1

Bahati

Arduino = Matlab (code)

5

Jeroen

Order micro
-
controller

to use as proto
-
type 1MU

5

Jeroen

You Tube video of testing

7

Jeroen

Algorythim description

9

Jeroen

More code

9

Jeroen

Suggest website

9

Jeroen

Data from gyro

9

Bahati

Suggest to Jeroen to graph

data and measure noise

CONTINUED PROGRESS

Project Approach

Analysis

Simulation

Testing

Analysis



Arduino Code (August
-
6)



Arduino Code (September
-
9)



Planetary Gearbox (August
-
31)



Sabertooth Motor Driver (August
-
31)



C++ Algorithm (September
-
7)

Simulation and Testing



Micro
-
controller (September
-

5)



Motor (August


31)



Battery Auguest


31)



Driver board (Auguest


25)

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.


Available Resources ?

Budget ?

Sponsors?

Team Chart/ Assignment?
Overall Schedule?