Project Proposal:

“NI Autonomous Robotics Competition 2013”

Student: Joel CottrellSupervisor: Dr Nasser Asgari

Milestone 1 Single Board RIO Milestone 2 Holonomic Wheel Base LabView programming Grabber Mechanism

Overview

Online LabView training completed

Submission of a project proposal to NI

Use the Single Board RIO to control one motor/actuator OR acquire from one sensor

We have begun the training and have received the sbRIO and LabView media from NI

Milestone 1- April 29th

Single Board RIO 9636 Includes a controller and FPGA Has a significant amount of documentation

and support material

The NI Single Board RIO

[2]

Preliminary design and prototype with obstacle avoidance implemented.

Demonstrate prototype moving forward avoiding obstacles

Requires wheelbase construction

Milestone 2 – 3rd June

Three wheels with perpendicular rollers Allows immediate movement in any

direction, at any speed and with any rotation factor

No history of this arrangement being fully utilised in NI ARC competition

Demonstration

Holonomic Wheel Base

[3]

Trigonometry for Holonomics

330B

210A

90C

00

RPP

RPP

RPP

CC

BB

AA

cos

cos

cos

Example: ‘θ = 110°, P = 52, R = 0’

330B

210A

90C

00

110

48090110cos52

390330110cos52

90210110cos52

C

B

A

P

P

P

Graphical programming language Consists of many wired Virtual Instruments (VIs) Each VI has a Front Panel and Block Diagram Must be used for 90% of robot’s programming

LabView

[1]

10cm grip on cube Tolerances for misalignment with robot Angle of attack

◦ Front, top, side Attachment to the robot

◦ Number of joints◦ Drive mechanisms (rotation /linear)

Optimal degrees of freedom◦ Sufficient control of cube for the task◦ Simple design and programming

Grabber Mechanics

[4]

We have a structure from NI to adhere to

The NI specifications largely dictate the technologies we will be investigating

We have freedom to deeply investigate technologies of wider academic significance

Summary

Questions?

1. dannyholstein, “Sourceforge: SQL-LV”◦ http://sql-lv.sourceforge.net/

2. National Instruments, Image of sbRIO◦ http://suisse.ni.com/sites/default/files/NI_sbRIO.jpg

3. Acroname Robotics, “4cm Poly Wheel x3”◦ http://www.acroname.com/robotics/parts/R98-4CM-POLY-ROLLER-3.html

4. Global Technologies, “Robot Gripper #RG2S-1”◦ http://www.robotforstudents.com/3.html

5. Peter A. Blume, “The Labview Style Book”◦ http://www.bloomy.com/lvstyle/images/

References