This shows you the differences between two versions of the page.
Both sides previous revision Previous revision Next revision | Previous revision Next revision Both sides next revision | ||
projects:ideas:armadillo_scout [2012/07/05 15:43] claes |
projects:ideas:armadillo_scout [2012/11/07 17:16] claes [Crawler vibration Measurement] |
||
---|---|---|---|
Line 1: | Line 1: | ||
====== Armadillo Scout Projects ====== | ====== Armadillo Scout Projects ====== | ||
[[projects: | [[projects: | ||
- | ===== Mechanical | + | |
+ | ===== Using the Armadillo Scout as a scarecrow ===== | ||
+ | |||
+ | 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 | ||
+ | |||
+ | This phenomenon needs to be modeled in the software, to take the hysteresis in to account. | ||
+ | |||
+ | ==== 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 | ||
+ | * | ||
+ | |||
+ | ===== Mechanical ===== | ||
+ | ==== Crawler vibration Measurement ==== | ||
+ | Moreover, please check the following factors. | ||
+ | |||
+ | |||
+ | |||
+ | 1. | ||
+ | |||
+ | 2. The dominant frequency of mechanical vibration of rubber crawler vehicle can estimate by driving speed / lug or (core bar) pitch of rubber crawler. | ||
+ | |||
+ | In case lug or (core bar) pitch of rubber crawler is 0.084m and driving speed is 0.200m/s, dominant frequency of mechanical vibration of rubber crawler vehicle can estimate by 0.2/ | ||
+ | |||
+ | Muneshi Mitsuoka fra Kyushu Universitet har skrevet PhD om vibrationer i baeltekoeretoejer. Han har ogsaa lavet noget software der kan simulere et design af baeltemodulerne. Jeg har uploadet praesentationen jeg har faaet af han [[http:// | ||
+ | Her er link til deres artikler: | ||
+ | |||
+ | |||
+ | ==== Movement of entire house for weight displacement ==== | ||
+ | Adding an implement and balancing of weight | ||
==== Beltmodule redesign ==== | ==== Beltmodule redesign ==== | ||
+ | We need a new design in order for the module to live up to our expectations. | ||
+ | |||
The official description is in this googledocs document [[https:// | The official description is in this googledocs document [[https:// | ||
- | We need a new design in order for the module to live up to our expectations | + | 1 slide short presentation of the project: |
+ | [[https:// | ||
+ | |||
+ | ===== Mechanical/ | ||
==== Dynamic change of height | ==== Dynamic change of height | ||
==== Dynamic change of width ==== | ==== Dynamic change of width ==== | ||
- | ==== Movement of entire house for weight displacement ==== | ||
- | Adding an implement and balancing of weight | ||
==== Tilting of the beltmodules ==== | ==== Tilting of the beltmodules ==== | ||
tilt the beltmodules and put a castor wheel on the ground | tilt the beltmodules and put a castor wheel on the ground | ||
- | ==== Update RHD for the new hardware ==== | + | ===== Update RHD for the new hardware |
The RHD in MobotWare needs to be updated so it can control the hardware on Armadillo 2. | The RHD in MobotWare needs to be updated so it can control the hardware on Armadillo 2. | ||
- | === Sensors === | + | ==== Sensors |
* Gyro/IMU | * Gyro/IMU | ||
* Tiltmeter | * Tiltmeter | ||
Line 26: | Line 65: | ||
* Stereo camera | * Stereo camera | ||
* Encoders | * Encoders | ||
- | === Actuators === | + | ==== Actuators |
* Motorcontrollers - is almost done | * Motorcontrollers - is almost done | ||
- | ==== Selector button like on the Hako for mode control ==== | + | ===== Selector button like on the Hako for mode control |
- Remote - Bypass computer and go directly to the motorcontrollers | - Remote - Bypass computer and go directly to the motorcontrollers | ||
- WiiMote - (Using FroboMind)The software should start automatically based on the selected mode | - WiiMote - (Using FroboMind)The software should start automatically based on the selected mode | ||
Line 35: | Line 74: | ||
- MobotWare | - MobotWare | ||
- Frobomind | - Frobomind | ||
- | ==== Upgrade the Safety System for the Armadillo-Scout ==== | + | ===== 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. | 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: | It includes the following assignments: | ||
Line 41: | Line 80: | ||
* Redundant wirering for all e-stop buttons | * 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/ | * 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 ==== | + | ===== 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. | 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. | ||
Look for safety remote for this! | Look for safety remote for this! | ||
+ | |||
+ | ===== Control Panel ===== | ||
+ | Create a HW control panal with on/off switches for different components -> one switch for each 12/24 VDC connector. | ||
+ | |||
+ | Two potensionmeters to change the output voltage on the powersupplys. voltmeter to show the voltage. | ||
+ | |||
+ | https:// | ||
+ | |||
+ | http:// | ||
+ | |||
+ | http:// | ||