Transcript Holonomic Robot - Northern Michigan University

Holonomic Robot
Holobot
Igor Kruhak
4-28-2003
Holonomic Robot
Holonomic Robot
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What does holonomic mean?
• Velocity constraints are holonomic if
they force a curve in state space to stay
in a proper subspace.
• Robot can turn 360 without moving its
pivot point.
• Can change directions at any given
point
Holonomic Robot
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Advantages of holonomic robots:
• Maneuver in very tight spaces
• Hardware easy to see and understand
• Can teach linear programming and math
• Allows flexibility to programming
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RMI
Preprogrammed instructions
Instructions on the fly
Holonomic Robot
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Main parts of the Robots are:
• Basic Stamp II
• Omni-wheels
• Carrying hardware
• Circuit board
• Batteries
• PDA
Holonomic Robot
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Difference from PPRK project
• PPRK uses Palm OS vs. WinCE
• PPRK programmed in C vs. java RMI
• Holobot uses javax.comm for WinCE
• Holobot has wireless capability
• HP 5450 used for Holobot’s server
• Basic Stamp II vs. Pontech SV203
• Setting CLASSPATH for WinCE
Holonomic Robot
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How does the Holobot move?
• Impulses sent to servos from stamp
• Stamp receives speeds from RMI server
• Time received from RMI server
• Omni-wheels allow movement in any
direction
• Direction depends on which servo
receives the impulse the Basic Stamp II
Holonomic Robot
Holobot environment:
•Artificial turf
•1” metal piping walls with 3” insulation
Holonomic Robot
Client
Server Interface
Server
Stamp Talker
Interface
Stamp Talker
Basic Stamp II
Holonomic Robot
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Presets:
•111
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straight
•100
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turn right
•101
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spin right
•000
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turn left
•001
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spin left
Holonomic Robot
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Difficulties with the project:
• Running java RMI on the PDA
• Installing javax.comm on the PDA
• Setting up the CLASSPATH on WinCE
• Constructing the hardware for the
Holobot
• Writing Basic Stamp II program
Holonomic Robot
Questions?