robot_lab_new_NI_robots

robot_lab_new_NI_robots - 1 LAB LAB 10 10 Mobile Robot...

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Unformatted text preview: 1 LAB LAB 10 10 Mobile Robot Control Mobile Robot Control Rajesh Rajamani ME 4231 Department of Mechanical Engineering University Of Minnesota OBJECTIVES Lab Objective To design and implement a motion control system for a wheeled mobile robot Tasks Moving to a desired position Translation and rotation Designing trajectories and avoiding obstacles Underlying tools Finite state machines PID controllers in each state of operation 2 ROBOT NI Robotics Starter Kit - A mobile robot platform Comes equipped with sensors, motors and a single RIO (reconfigurable input-ouput) board NI Labview and the Labview robotics module can be used for programming the mobile robot The robot has 2 DC motors and 4 wheels The DC motors are installed on the 2 front wheels with a 400-tick encoder on each front wheel The motor for each side can be controlled independently ROBOT COMPONENTS 3 ROBOT COMPONENTS NI single-board RIO 9631 embedded control platform Built-in analog and digital I/O Ultrasonic range finder Parallax 40 kHz ultrasonic sensor Senses objects in the 2cm 3 meters range and measures position The sensor is installed on a stepper motor that can be rotated 90 degrees Built in 10/100 Mbits/s ethernet port to conduct programmatic communication ROBOT CONTROL NI sbRIO-9631, single board RIO, is programmed using NI LabVIEW software Basic robot program provided Only high level programming required for motion control Controller and sensor data are communicated at 100 Hz 4 ROBOT CONTROL Control of forward motion The internal controller accepts forward (or backward) velocity commands The PID control gains of the internal controller have been tuned, but can be changed by the user if desired Control of orientation The internal controller accepts rotational velocity commands Again, PID control gains have been tuned but can be changed if needed Rotational control of the robot is achieved by supplying differential torque to the left and right sides TASKS IN LAB Tasks are described in detail in handout...
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This note was uploaded on 02/07/2012 for the course ME 4231 taught by Professor Staff during the Fall '08 term at Minnesota.

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robot_lab_new_NI_robots - 1 LAB LAB 10 10 Mobile Robot...

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