ICII ROBOTS ICII ROBOTS Ing. Frantiek Ducho Ing. Marian Kik - - PowerPoint PPT Presentation

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Dec 12, 2023 164 likes •421 views

Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information T echnology Slovak University of T echnology ICII ROBOTS ICII ROBOTS Ing. Frantiek Ducho Ing. Marian Kik Contents Contents

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ICII ROBOTS ICII ROBOTS

Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information T echnology Slovak University of T echnology

Ing. František Duchoň
Ing. Marian Kľúčik

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Contents Contents

Importance of mobile robotics Indoor mobile robot Outdoor mobile robot

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Importance of mobile robotics Importance of mobile robotics

Mobile robots are used in:

1. harmful and dangerous environments
2. environment exploration
3. transportation tasks
4. property and people rescue
5. service robotics
6. space robotics

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Indoor mobile robot Indoor mobile robot (IMR) (IMR)

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Hardware of Indoor mobile Hardware of Indoor mobile robot robot

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Sensors of Indoor mobile robot Sensors of Indoor mobile robot

1. 9 x Ultrasonic sensor MrRobot MUSTA 8-12V
2. 9 x Infra sensor
3. 1 x camera head
4. 1 x Ultrasonic Rangefinder

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Sensors decomposition (IMR) Sensors decomposition (IMR)

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Accumulator packs (IMR) Accumulator packs (IMR)

 20 NiMH Saft VH F 15Ah/1,2 cells (whole

packet: 24V/15Ah)

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Stability for Indoor mobile robot Stability for Indoor mobile robot

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Kinematics scheme of IMR Kinematics scheme of IMR

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Processes (IMR) Processes (IMR)

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Goals with IMR

Indoor mapping Reactive navigation Object recognition

People Furniture Other robots Goal objects

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Local metric map (IMR) Local metric map (IMR) Ultrasonic sensor model (IMR) Ultrasonic sensor model (IMR)

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Ultrasonic sensor model (IMR) Ultrasonic sensor model (IMR)

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Reactive navigation (IMR) Reactive navigation (IMR)

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Future? (IMR) Future? (IMR)

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Outdoor mobile robot (OMR) Outdoor mobile robot (OMR)

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Hardware of Outdoor mobile Hardware of Outdoor mobile robot robot

Drive system

two GDM100N2, differential drive
maximal velocity is 0,9 m/s
drive with 2 speeds
harmonic drive

Control system

basic control system hardware is industrial computer PC-UNO-2059

working with frequency 400MHz, with operating system Linux Debian, 1 GB RAM, RS232, RS422

main control system hardware:
small PC VIA EPIA PD15000, operating system Linux Debian
r
PC with Core 2 Duo,1GB 800 MHz RAM, with TVcard

also with Linux Debian

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Sensors of Outdoor mobile Sensors of Outdoor mobile robot robot

1. 1 x Compass CMPS03
2. 1 x GPS Garmin 18-5Hz
3. Analog Devices:

Gyroscopes/Accelerometer/Inclinometer

4. 1 x Laser Scanner HOKUYO URG-04LX
5. 6 x Ultrasonic Range Finder MaxSonar EZ1
6. 2 x Ultrasonic Range Finder Devantech SFR

7. 1 x Camera Head

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Accumulator packs (OMR) Accumulator packs (OMR)

1. Two interchangable packs
2. One pack has 22 1,2V cells
3. General capacity of one pack is 15 Ah
4. With one pack at velocity 0,5 m/s can the robot travel to

distance 2km

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Laser scanner with camera view Laser scanner with camera view (OMR) (OMR)

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Autonomous movement in park like

environment

Object detection
Object recognition
Path recognition
Obstacle avoiding
Performing autonomous tasks with arm

Goals with OMR Goals with OMR

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Models of robots – Adams, MRS Models of robots – Adams, MRS

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