SNUT UNN MS&DE Program Professor : Kim Dong Hwan Student : Seo Sung Mok Lee Ok Nam Na Yoon Ho Park Su Min

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


Contents

Objective & Functions1

Schematic Diagram2

Feature & Mechanism3

How to control How to control4

Plan 5


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]


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]


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


Schematic Diagram

DSP Control

Sensing Target

Blue ToothPC Base systemVision Process

Shooting a gun


210 mm

Feature (modeling)

<Upper view>

120 mm

120 mm

210 mm


Moving Mechanism


Moving Mechanism


Moving Mechanism


Moving Mechanism


Moving Mechanism


Moving Mechanism


Moving Mechanism


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


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


80m

m

Speed

80m

m

57mm

57mm

0.16s / 60˚ = 0.12s / 45˚

Instantaneous velocity :57mm/0.12s = 475mm/s = 0.475m/s


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.


Motor control

How to control?

PC

Sensorcontrol

Wireless device

Main controller

(DSP)

CCDcamera

Wireless device

PCMSRS

• Communication System


How to control?

Image information

Motion datacommand

• Construction of System


BB

Built in Flash memory & Ram

AA16bit-Fixed Point CPU

CC

ADC : 10bit, 16channel

EETimer : 16 bit

DDPWM : 16pin

Main Controller (DSP)

TMS320LF2407ATMS320LF2407A


PC Controller (MSRS)

MSRS : Micro Soft Robotics Studio

Why MSRS?

– Service for Vision & Voice Process

– Visual Program Language (VPL)

– Simulation program

– Free software


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.


Plan


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


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


Optimize continuously


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


Remanufacture or retouch Frames

Complete and optimize


SNUT UNN MS&DE Program

Prototype

Prototype

Prototype

Prototype

Prototype

Prototype

Prototype

Prototype

Moving mechanism

Change of center of gravity


Moving mechanism



Moving mechanism



Moving mechanism



Moving mechanism



Moving mechanism



Documents

SNUT UNN MS&DE Program Professor : Kim Dong Hwan Student : Seo Sung Mok Lee Ok Nam Na Yoon Ho Park Su Min