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projects:ideas:armadillo_scout [2012/09/21 16:39] claes [Model the hysteresis of the drive wheel] |
projects:ideas:armadillo_scout [2021/08/14 04:21] |
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- | ====== Armadillo Scout Projects ====== | ||
- | [[projects: | ||
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- | ===== Using the Armadillo Scout as a scarecrow ===== | ||
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- | Detect birds on a field. Scare them away without harming the birds or the crops. | ||
- | ===== Software ===== | ||
- | ==== Model the hysteresis of the drive wheel ==== | ||
- | There is a small gap in the belt, between the teeth of the drive wheel and the belt. So the teeth can move approximately | ||
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- | This phenomenon needs to be modeled in the software, to take the hysteresis in to account. | ||
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- | ==== Odometri for beltdrive vehicles ==== | ||
- | * dynamic distance change during driving | ||
- | * difference in tick between backwards and forwards driving | ||
- | * define kinematic model that somehow includes slip. -> maybe based on slip observer from france. | ||
- | * model hysterese in the belt to optimise position estimation | ||
- | * | ||
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- | ===== Mechanical ===== | ||
- | ==== Movement of entire house for weight displacement ==== | ||
- | Adding an implement and balancing of weight | ||
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- | ==== Beltmodule redesign ==== | ||
- | We need a new design in order for the module to live up to our expectations. | ||
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- | The official description is in this googledocs document [[https:// | ||
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- | 1 slide short presentation of the project:\\ | ||
- | [[https:// | ||
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- | ===== Mechanical/ | ||
- | ==== Dynamic change of height | ||
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- | ==== Dynamic change of width ==== | ||
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- | ==== Tilting of the beltmodules ==== | ||
- | tilt the beltmodules and put a castor wheel on the ground | ||
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- | ===== Update RHD for the new hardware ===== | ||
- | The RHD in MobotWare needs to be updated so it can control the hardware on Armadillo 2. | ||
- | ==== Sensors ==== | ||
- | * Gyro/IMU | ||
- | * Tiltmeter | ||
- | * GNSS | ||
- | * Sick LSM111 | ||
- | * Stereo camera | ||
- | * Encoders | ||
- | ==== Actuators ==== | ||
- | * Motorcontrollers - is almost done | ||
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- | ===== Selector button like on the Hako for mode control ===== | ||
- | - Remote - Bypass computer and go directly to the motorcontrollers | ||
- | - WiiMote - (Using FroboMind)The software should start automatically based on the selected mode | ||
- | - Automatic - The software should start automatically based on the selected mode | ||
- | - MobotWare | ||
- | - Frobomind | ||
- | ===== Upgrade the Safety System for the Armadillo-Scout ===== | ||
- | The Safety System need to be designed and implemented. It should follow the solution made for the Hako, so it is compliant with ISO 13849 - Machine Safety. | ||
- | It includes the following assignments: | ||
- | * Bumper like on the hako or something similar. | ||
- | * Redundant wirering for all e-stop buttons | ||
- | * Integrate the motorcontroller in the system, so the power is not just cut off and used a a motor/ | ||
- | ===== Install Remote to connect directly to the motor controller ===== | ||
- | It is possible to cennect a RC controller directly to the motor controller. This mean it can be controlled with ot the computer and software. | ||
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- | Look for safety remote for this! | ||
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- | ===== Control Panel ===== | ||
- | Create a HW control panal with on/off switches for different components -> one switch for each 12/24 VDC connector. | ||
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- | Two potensionmeters to change the output voltage on the powersupplys. voltmeter to show the voltage. | ||
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- | https:// | ||
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- | http:// | ||
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- | http:// | ||