Robot_Lab_NI_robots

Robot_Lab_NI_robots - ME 4231 Lab 10 Mobile Robot Control 1 Lab Objective The objective of this lab is to design and implement a motion control

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ME 4231 Lab 10 Mobile Robot Control 1. Lab Objective The objective of this lab is to design and implement a motion control system for a mobile robot. The developed controller has to ensure that the robot can follow a designed trajectory and also determine the desired trajectory so as to avoid obstacles. 2. Background Figure 1 NI Robotics Starter Kit The NI Robotics Starter Kit is a mobile robot platform that comes equipped with sensors, motors, and an NI Single-Board RIO for embedded control. NI LabVIEW graphical programming and the LabVIEW Robotics module can be used for programming the mobile robot. 2.1. Robot Components The NI Robotics Starter Kit uses an NI Single-Board RIO 9631 embedded control platform and an ultrasonic range finder. The Single-Board RIO controller integrates a real-time processor, reconfigurable field-programmable gate array (FPGA), and analog and digital I/O on a single board. It is powered by NI LabVIEW Real-Time and LabVIEW FPGA technologies. The built-in analog and digital I/O can be expanded using C Series modules. The robot has 2 DC motors and 4 wheels. The DC motor for each side of the robot is installed on the front wheels with a 400-tick encoder. Thus, the motor for each side can be controlled independently. The steering method for this robot is called skid-steer.
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Figure 2 Robot Component The robot has a Parallax PING))) ultrasonic sensor that detects objects by emitting a short ultrasonic burst and then listening for the echo. Under the control of a host microcontroller (trigger pulse), the sensor emits a short 40 kHz (ultrasonic) burst. This burst travels through the air at about 1130 feet per second, hits an object, and then bounces back to the sensor. The PING))) sensor provides an output pulse to the host that terminates when the echo is detected; hence, the width of this pulse corresponds to the distance to the target. This sensor can sense obstacles in a range from 2 cm to 3 m. Moreover, the ultrasonic sensor is installed on a stepper motor. Thus, the ultrasonic sensor can rotate from -90 to +90 degrees. (By rotating the ultrasonic sensor, objects around the robot can be detected.) The coordinate system of the robot is defined by Figure 3. Figure 3 Coordinate System of the Robot 2.2 Controller: National Instruments Single Board RIO
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The NI sbRIO-9631 embedded control and acquisition device integrates a real-time processor, a user- reconfigurable field-programmable gate array (FPGA), and I/O on a single printed circuit board (PCB). It features a 266 MHz industrial processor, a 1M gate Xilinx Spartan FPGA, 110 3.3 V (5 V tolerant/TTL compatible) digital I/O lines, 32 single-ended/16 differential 16-bit analog input channels at 250 kS/s, and four 16-bit analog output channels at 100 kS/s. It also has three connectors for expansion I/O using board-level NI C Series I/O modules. The sbRIO-9631 offers a -20 to 55 °C operating temperature range along with a 19 to 30 VDC power supply input range. It provides 64 MB of DRAM for embedded
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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_NI_robots - ME 4231 Lab 10 Mobile Robot Control 1 Lab Objective The objective of this lab is to design and implement a motion control

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