SNUT UNN MS&DE Program Professor : Kim Dong Hwan Student : Seo Sung Mok Lee Ok Nam Na Yoon Ho Park Su Min
Mar 26, 2015
SNUT UNN MS&DE Program
Professor : Kim Dong Hwan
Student : Seo Sung Mok
Lee Ok Nam
Na Yoon Ho
Park Su Min
2 UNN Capstone Design
Joint Project with R.H.I.T team
Purpose : International communication for the same project
Subject – R.H.I.T : 4legged robot with autonomous shooting ( Embedded system) – SNUT : 4legged robot with autonomous shooting (PC base system)
Meeting – Formal : Video conference (Tue. or Fri. 9:00AM ) – Informal : Chatting using Skype (Any time)
Visitation Schedule– SNUT will visit to US in July – R.H.I.T will visit to Korea in September
Joint Project with R.H.I.T team
3 UNN Capstone Design
Contents
Objective & Functions1
Schematic Diagram2
Feature & Mechanism3
How to control How to control4
Plan 5
4 UNN Capstone Design
Research
MAARSTM Robot
Foster-Miller's latest innovation in robotics, MAARSTM (Modular Advanced Armed Robotic System) introduces a new modular design to its popular family of TALON® and SWORDS robots for military and first responders. MAARS™ uses the more powerful M240B medium machine gun and has significant improvements in command and control, situational awareness, maneuverability, mobility, lethality and safety compared to its SWORDS predecessor.
[CBS NEWS]
5 UNN Capstone Design
Research
BIGDOG Robot
BigDog is one meter long, 0.7 meters tall, and weighs 75 kilograms, around the size of a small mule. It is currently capable of traversing difficult terrain at 5.3 kilometers per hour (3.3 mph), carry a 154 kilogram load (340 pounds), and climb a 35 degree incline.[1] Locomotion is controlled by an on board computer that receives input from the various sensors featured on the BigDog. Navigation and balance are also managed by the control system.
[CNN NEWS]
6 UNN Capstone Design
Objective & Functions
4 legged robot with autonomous shooting
Velocity: 0.15m/secWeight: 3.0kg
Red balloonLaser & Gun
SensingObstacle
Control modeAutonomous mode
Targeting&
Gun
UnevenRoad
Specification
Functions
WirelessCommunication
Control
Blue Tooth
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Schematic Diagram
DSP Control
Sensing Target
Blue ToothPC Base systemVision Process
Shooting a gun
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210 mm
Feature (modeling)
<Upper view>
120 mm
120 mm
210 mm
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Moving Mechanism
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Moving Mechanism
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Moving Mechanism
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Moving Mechanism
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Moving Mechanism
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Moving Mechanism
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Moving Mechanism
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Feature (Weight)
12 Motors : 50g*12=600g12 Motors : 50g*12=600g 2 Motors : 50g*2=100g2 Motors : 50g*2=100g Battery : Less than 160gBattery : Less than 160g Camera : Generally 100~150gCamera : Generally 100~150g Toy gun with laser point : 350gToy gun with laser point : 350g DSP board : 100gDSP board : 100g Aluminum 2T-5052 : Less than 1130g Aluminum 2T-5052 : Less than 1130g Other parts : 100g Other parts : 100g
Total : 2640g = 2.64kgTotal : 2640g = 2.64kg
17 UNN Capstone Design
Motor selection
Three considerable factors
: Angular velocity, Torque, and Cost
SS-226
DC: 4.8~7.2V
Velocity: 0.20s/60degree
Torque: 26kg*cm
Weight: 50g
Size: 41*20*38mm
Cost: 58000won
18 UNN Capstone Design
80m
m
Speed
80m
m
57mm
57mm
0.16s / 60˚ = 0.12s / 45˚
Instantaneous velocity :57mm/0.12s = 475mm/s = 0.475m/s
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Average velocity : 0.24 m/s
0.24m/s > 0.15m/sIt’s enough
Ankle motors will be induced by the maximum torque.
Torque
150m
m The torque induced on a ankle motor will be …
15cm x 2.6kg / 4 = 9.75kg*cm (when it is stopped)
15cm x 2.6kg / 2 = 19.5kg*cm(when it is moving)
The torque of the ss-226 is 26kg*cm > 19.5kg*cm.
2.6Kg
So, it is safe.
20 UNN Capstone Design
Motor control
How to control?
PC
Sensorcontrol
Wireless device
Main controller
(DSP)
CCDcamera
Wireless device
PCMSRS
• Communication System
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How to control?
Image information
Motion datacommand
• Construction of System
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BB
Built in Flash memory & Ram
AA16bit-Fixed Point CPU
CC
ADC : 10bit, 16channel
EETimer : 16 bit
DDPWM : 16pin
Main Controller (DSP)
TMS320LF2407ATMS320LF2407A
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PC Controller (MSRS)
MSRS : Micro Soft Robotics Studio
Why MSRS?
– Service for Vision & Voice Process
– Visual Program Language (VPL)
– Simulation program
– Free software
24 UNN Capstone Design
PC Controller (MSRS)
C# programming
Developing new codes using c#.
Second stage
Basic stage
VPL Application
Application by basic modules in MSRS.
Final stage
Simulation
Simulation with a virtual robot or a real robot.
25 UNN Capstone Design
Plan
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Mechanical Part
DSP & IC (Control) Part
PC(MSRS) Part
Finish until Finish until SeptemberSeptember
Plan
DSP & IC Part
Work Apr. May. Jun. Jul. Aug. Sep.Install programs & study manuals
Buy basic components
Study I/O & PWM DSP code
Study motor control method
Operate motors independently
Connect DSP with IC board
Connect all together and operate
Link MSRS(PC part) with DSP
Add new functions and modify
Optimize continuously
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Plan
PC Part
Work Apr. May. Jun. Jul. Aug. Sep.Install MSRS Program
Seminar for REGO mindstorm
Seminar for MSRS lectures
Study MSRS program language
Build robot protocol and Bluetooth
Develop code for vision process
Operate a camera with sensors
Drive the robot and make controller
Add new functions and modify
Optimize continuously
28 UNN Capstone Design
Plan
Mechanical Part
Work Apr. May. Jun. Jul. Aug. Sep.Functions & Mechanism design
Part design separately in detail
Making prototypes and selection
Select motors or components
CAD modeling & Purchase parts
Manufacture frames & Assembly
Operate the robot and adjust
Add new functions and modify
Remanufacture or retouch Frames
Complete and optimize
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SNUT UNN MS&DE Program
Prototype
Prototype
Prototype
Prototype
Prototype
Prototype
Prototype
Prototype
Moving mechanism
Change of center of gravity
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Moving mechanism
Change of center of gravity
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Moving mechanism
Change of center of gravity
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Moving mechanism
Change of center of gravity
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Moving mechanism
Change of center of gravity
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Moving mechanism
Change of center of gravity
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