Society of Robots - Robot Forum

General Misc => Misc => Topic started by: Admin on June 02, 2007, 06:19:43 PM

Title: CAD of my newest robot
Post by: Admin on June 02, 2007, 06:19:43 PM
Ive probably made 30+ robots in the last 5 years, and decided I waste a lot of time building a new chassis each time . . .

So now Im working on a one-size-fits-all robot test platform. Im designing it to be easy for anyone to make. It also has a special upgrade platform to add whatever I want without rebuilding the whole robot. It will use the same controller as from the $50 Robot.

I want opinions on it - so if anyone wants to use the design it will be useful.

This is the 'bare-bones' platform, a simple diff drive with a castor:
(http://www.societyofrobots.com/misc/Angle_Nothing.jpg)

This is the experiment platform that can be changed out depending on 'mission' requirements:
(http://www.societyofrobots.com/misc/Angle_Test_Platform.jpg)

This is an example of what can be added to the experimental platform:
(http://www.societyofrobots.com/misc/Angle.jpg)

I will use this bot for the next 5+ or so tutorials, including pathfinding, mapping, more vision and sonar stuff, wireless communications, and more! (the red line is a laser pointer that will be controlled by the robot)

Here is a video simulation I did for the prototype:
[youtube=425,350]SRx4puXRzmw[/youtube]
Title: Re: CAD of my newest robot
Post by: ed1380 on June 02, 2007, 09:03:38 PM
looks awesome. only concern is how would the caster work when turning? or is it one of those wheels that have rollers on them?
Title: Re: CAD of my newest robot
Post by: Admin on June 05, 2007, 01:46:27 PM
Quote
looks awesome. only concern is how would the caster work when turning? or is it one of those wheels that have rollers on them?
apologies for my lazy CAD'ing . . . omni wheels are hard to make! :P

its the same omni wheel as:
(http://www.societyofrobots.com/images/mobot2007_bottom.JPG)
Title: Re: CAD of my newest robot
Post by: Admin on June 05, 2007, 07:52:32 PM
I decided that all my robot could do is just wander around (boring) . . . so I decided to add a basic 3 DOF robot arm to it so it can poke stuff. I have some ideas of doing realtime visual servoing without doing trig or frame transposing (hard/intensive stuff) that Ive been wanting to try, anyway.

(http://www.societyofrobots.com/misc/Angle_Claw.png)

In the future I could always actuate the claw, but for now Ill keep it simple.

(http://www.societyofrobots.com/misc/Angle_Claw_back.png)

I also added a sinewinder (http://www.dimensionengineering.com/Sinewinder.htm) in front to pimp it up a bit ;D
(http://www.dimensionengineering.com/images/products/Sinewinder.gif)
Title: Re: CAD of my newest robot
Post by: Admin on June 09, 2007, 02:38:21 PM
I just ran some stress analysis simulations on the robot arm . . . it turns out my original design was way overkill. Ideally you want the robot arm as small as possible to keep weight as low as possible . . . but if you make it too thin then it starts bending too much. Im a mechanical engineer, I dont just use intuition when it comes to mechanics ;)

I ran the analysis applying 4 to 5 pounds at various locations (the robot itself only weighs 2 pounds). Below is just some of what I did. Click for enlarged images. Btw, my older design was able to handle over 100 pounds, but was too heavy :P

A deflection test of 4 pounds, with maximum deflection of .23"
(http://www.societyofrobots.com/misc/T3_stress_analysis_1.png) (http://www.societyofrobots.com/misc/T3_stress_analysis_1.png)

The new optimized arm:
(http://www.societyofrobots.com/misc/Taurus3_optimized_arm.png) (http://www.societyofrobots.com/misc/Taurus3_optimized_arm.png)
Title: Re: CAD of my newest robot
Post by: Brandon121233 on June 09, 2007, 06:15:42 PM
I'm not sure if you mentioned this somewhere already yet but what program did you make and test this in? It looks neat being able to run stress tests.
Title: Re: CAD of my newest robot
Post by: Admin on June 09, 2007, 07:00:02 PM
Im currently trying out Autodesk Inventor 2008 . . . it apparently has ANSYS built in for FEA.


In more updates, I just calculated that with the servos Im using (HS-225 MG), the arm can lift 2.6 pounds plus its own arm weight before stalling. The robot now weighs ~2.7 pounds, so it can almost bench its own weight! :P

Im now checking the CAD for dumb mistakes and I will hopefully start CNC'ing the parts next week.

I still havent made a decision on which camera I will use yet . . . Ill do that later I guess . . .
Title: Re: CAD of my newest robot
Post by: Admin on June 09, 2007, 09:11:43 PM
Since this robot has a robot arm (http://www.societyofrobots.com/robot_arm_tutorial.shtml), I had to do some various calculations to get it perfect. :P

As always with my projects, all tools I develop become free for anyone. This time, I developed a program that can do all the math for you if you ever wanted to build a robot arm. It even shows you what the arm will look like given your parameters.

Check out my Robot Arm Designer v1 (http://www.societyofrobots.com/downloads/Robot_Arm_Designer.xls) (in excel).
To use it, all you do is enter your design parameters in the yellow boxes, and the calculated values appear in red. It also does both forward and inverse kinematics for you. At the moment it is only for a 3 DOF arm:

(http://www.societyofrobots.com/images/robot_arm_simple.gif)

Ill probably get 6 or so tutorials out of this project ;D
Title: Re: CAD of my newest robot
Post by: maverick monk on June 10, 2007, 05:30:24 AM
oh, so fancy, lol. now you need to figure out a way to use that arm to get into the fridge and bring you your favorite drink, if you do that, i want a tutorial for that too.
Title: Re: CAD of my newest robot
Post by: Admin on June 16, 2007, 10:33:11 AM
Ok so I started constructing this critter of a robot . . .

Made all the parts, then realized I sized all my holes too big . . . so I had to make all the parts again . . .

So here are a few pics of the current level of assembly. I still have yet to decide on which camera to use, so I left that part out for now.

(http://www.societyofrobots.com/misc/proto3_base_web.JPG)

(http://www.societyofrobots.com/misc/proto3_claw_web.JPG)

There are unfortunately two more mistakes I made . . .

I forgot that I already modified the servos I am using for the arm, so now I need to buy two new ones (doh!).

Also, I realized my Robot Arm Designer has a flaw in it I cant figure out. For some reason the inverse kinematics do not work outside of quadrant I (doesnt work for negative positions). Can anyone good in math figure out what Im doing wrong? :-\
Title: Re: CAD of my newest robot
Post by: Tsukubadaisei on June 16, 2007, 09:52:42 PM

Also, I realized my Robot Arm Designer has a flaw in it I cant figure out. For some reason the inverse kinematics do not work outside of quadrant I (doesnt work for negative positions). Can anyone good in math figure out what Im doing wrong? :-\

In that case sir, allow me to to explain you problem:
When you calculate theta and psi(by the way the symbol for psi in your tutorial is wrong as well. It is not Φ but Ψ, the one that you used is the symbol for phi), you are forgetting that the equation has 2 solutions and you are considering only the positive one for both angles. In that case you will only get the solution in the first quadrant. :-[
In other words:
let K=(x^2 + y^2 - L1^2 - L2^2) / (2 * L1 * L2) and C=(y * (L1 + L2 * c2) - x * L2 * s2) / (x^2 + y^2)

then in ADMIN's answer we get
psi=arccos(K) and theta=arcsin(C)

but, unfortunatelly, that is just one case.
Why? Simple, if you try to solve that equation step by step you will first and up in this equation:
K=cos(psi)
Now lets examine psi. Psi can be both positive and negative, and one of the properties of cosine is the following:
cos(x)=cos(-x)=cos(abs(x)), where abs(x) is the absolute value of x. Considering the range of Psi you nescessarely have to you consider abs(x), because both negative and positive values give the same result. It is exactly when you are solving x^2=1, if you are solving this equation in the most formal way you will get:
x^2=1 <=> abs(x)=1 <=> x=+/-1 where +/- is the plus-minus signal
Returning to the topic you will then get the following result:
K=cos(psi) <=>abs(psi)=arccos(K) <=> psi=+/-arccos(K)
then you use this result in order to solve theta and get:
theta=-/+sin(C)
In the and your final equation will be:

psi =+/- arccos((x^2 + y^2 - L1^2 - L2^2) / (2 * L1 * L2))
theta =-/+ arcsin((y * (L1 + L2 * c2) - x * L2 * s2) / (x^2 + y^2))
c2 = (x^2 + y^2 - L1^2 - L2^2) / (2 * L1 * L2);
s2 = sqrt(1 - c2^2);

Now you ask me: Thanks, but how am I supposed to do create a Excel file with a graph for that? Ans: As far as I know, you can't. I advise you to use MATlab, but still it would be very difficult.

Now there are 2 things that I can't understand in this robot arm.
1) Why is ADMIN trying to caltulate the inverse kinematics equation? An arm that does more than 1 rotation movement will get multiple answers because there are more than one way to move to a certain point and you will get a nightmare equation in the end that will drive you crazy when programing it. Not to mention that your controller will that forever to compute the results.( maybe for this robot it is still possible, but try a slightly more complex robot and you will never be the same anymore)
I believe that the best way to calculate this moviment is actually getting the position of the target, then the position of the arm and calculate the actual angle you have to rotate. I mean:
X=FUNCTIONTHETA where X is the vector that describes the position of the arm, FUNCTIONTHETA is the vector function of the angles. Let D mean the difference( for example DY=Y2-Y1)
than, you calculate the derivative and get
DX=DFUNCTIONTHETA=J*DTHETA where J is the Jacobian matrix and THETA the angle vector.DX is the linear displacement and DTHETA is the angular displacement for each servo. Since you have the linear displacement then you want to calculate the angular displacement. In that case you calculate the inverse of the Jacobian Matrix. You will get in the end:
DTHETA=J^(-1)*DX

It is a boring process but 100% safe. And easy to program (just use arrays and math.h in C and you are done).

2) the second thing I can't understand is the hand of the robot. That hand can't close. I know you may just want to put some beer on let the robot transport it. But in my opinion, a hand that can't close is like a plane that can't fly.

Now, enough of boring maths, I will post my robot as well. I am doing it mainly for 2 competitions that will be held in September and October and for the 200 bucks contest in the end of July, I think. I am very busy now so I haven't started building it yet, I will start in the and of June.
 
(http://i191.photobucket.com/albums/z102/ikaruga_2007/hanako.jpg)

The ojective is to transport that apple over a outdoors irregular field full of obstacles without letting the apple fall. Except by the apple, according to the rules, I cannot have anything over the top most plataform. Yes, that is right, it is a nightmare. I think I might change the tires for something softer(I am using gum, but I will choose another type of gum and a bigger pneumatic tire). And since I bought a tiny UMPC I might add a camera in order to help the 4 sonars I am using (the fith one is for cheking the position of the apple). The movement system is very similar to ADMIN's Taurus 2. There is a part with some lines so I will be using line tracer as well. My sponsors are Freescale and Futaba, so I am getting the controller and the servos(11 of them) for free. There are a few more features and sensors in this robot but I will leave then for the tutorial later. The robot looks big but it is actually 30X30X25cm^3

 :o OMG, This post is too big. sorry
Title: Re: CAD of my newest robot
Post by: Ro-Bot-X on June 17, 2007, 01:34:23 AM
Whoa! I don't understand any of that math... I guess this is what I'm missing by not having a university degree...

It makes a lot of sense to calculate the difference in the actual position of the arm and the desired position. I am building a big robot that will have 2 arms, one with 6DOF and one with less, probably 3 or 4. Since I don't know the math, I will make something like a lookup table with stored positions. But this will not be enough, so there will be adjustments based on camera image processing. Hmm, I see it is hard to explain.

About the robot, it looks great! Suggestion: get inflatable tires, and inflate them half way. You will have a soft rocking movement and the apple will have a better chance to stay in place.

Edit: Yeah, where is the claw ADMIN? When I saw your CAD I thought you minimalised it but you have in mind to install one...
Title: Re: CAD of my newest robot
Post by: Ro-Bot-X on June 17, 2007, 01:48:04 AM
Admin, as I was looking at your robot, it stroke me that it has too much weight on the front and too little support for the balance of the arm movement. You will lose adherence (your wheels will slip) if driving on a smooth surface... I would have mounted the arm over the driving wheels, a little to the back, for better stability and traction.
Title: Re: CAD of my newest robot
Post by: Admin on June 20, 2007, 07:34:28 PM
I got progress to report. Ill let the video do all the talking ;D

[youtube=425,350]LsYST0R-2Vk[/youtube]

I have officially called it ERP for Experimental Robot Platform.

I havent had time to go back over my math yet, but I did however write up a really fast trig lookup table calculator for the AVR (http://www.societyofrobots.com/robotforum/index.php?topic=1308.msg8622#msg8622) to use later. Im still debating if I just want to fudge the arm motions with fuzzy logic or stick with inverse kinematics. Ill play around with it a bit more first and see what it can do.

Quote
where is the claw ADMIN? When I saw your CAD I thought you minimalised it but you have in mind to install one
Dont worry its coming. This is an ERP so it will be forever upgraded with new human killing features. I just wanted to get a basic base and basic software to start off with.

Quote
Admin, as I was looking at your robot, it stroke me that it has too much weight on the front and too little support for the balance of the arm movement. You will lose adherence (your wheels will slip) if driving on a smooth surface... I would have mounted the arm over the driving wheels, a little to the back, for better stability and traction.
Yea Im sort of having this problem. The arm is soooo fast and soooo strong that the whole base moves when the arm does. If you look carefully you can see it in the video. Its a dynamic issue I didnt really consider and I suck at calculating. Im going to have to analyze it to see what I can do. In the mean time Ill add a second NiMH battery to weigh it down by another ~30%.
Title: Re: CAD of my newest robot
Post by: Ro-Bot-X on June 21, 2007, 12:53:33 AM
I think I didn't explain right what I was thinking. I meant to say that I would had the omniwheel at the back of the robot (the back of your robot would be the front) and have the arm above the driving wheels but inside the triangle made by the 3 wheels touch points on the ground. and the battery weight over the omni wheel for counter ballancing. Does this make more sense?
Title: Re: CAD of my newest robot
Post by: gamefreak on June 21, 2007, 05:53:56 AM
Admin, wouldnt you actually want the hand to bend a little bit?, this would allow the robot to pick things, of course, it wouldnt be able to put them back down unless another arm started pulling,

Quote
=cos(psi)
Now lets examine psi. Psi can be both positive and negative, and one of the properties of cosine is the following:
cos(x)=cos(-x)=cos(abs(x)), where abs(x) is the absolute value of x. Considering the range of Psi you nescessarely have to you consider abs(x), because both negative and positive values give the same result. It is exactly when you are solving x^2=1, if you are solving this equation in the most formal way you will get:
x^2=1 <=> abs(x)=1 <=> x=+/-1 where +/- is the plus-minus signal

is it normal to have a headache now?
Title: Re: CAD of my newest robot
Post by: Tsukubadaisei on June 21, 2007, 08:39:21 PM

is it normal to have a headache now?

Yes, do you want some aspirins? ;)
Title: Re: CAD of my newest robot
Post by: megaman935 on June 22, 2007, 08:54:48 AM

is it normal to have a headache now?

Yes, do you want some aspirins? ;)

uuugghh... ANYTHING PLZ! :'(

P.S. Admin Awesome Robot! ;D

What would happen if you took 2 more servos and make the hand move to pick up things too? just a thought..
Title: Re: CAD of my newest robot
Post by: S. Karim on July 01, 2007, 06:44:05 PM
how big are cnc machines? is it possible to buy an affordable one, thats not huge, anytime soon?
Title: Re: CAD of my newest robot
Post by: KambeiX on July 01, 2007, 07:16:23 PM
the video looks great, you should equip the arm with an axe for robot crushing battles :P
Title: Re: CAD of my newest robot
Post by: Admin on February 17, 2008, 06:42:13 PM
Wow I can't believe its been 8 months since my last update . . . hmmmm so I guess I should post an update so you guys don't think I've fallen behind too much . . .

Attached is what it currently will look like with all my new upgrades. Lets give a quick rundown here . . .

I've added a second arm, and it has a claw to grab stuff. I don't plan to ever have both arms the same as I want to play around with different claw ideas.

I got bluetooth wireless working - transmitting data, commands, etc.

Wireless bootloading works.

I am swapping out my $50 Robot controller for my new Axon microcontroller. I will post code for both in the future for others to use.

I swapped out the servos in the base of each arm to more expensive/stronger servos. It can now easily (as calculated) do pullups with its two arms.

I increased the robot height so the camera can see better, and so that I can have two levels of space to add upgrade sensors/components.

I increased wheel diameter to increase robot speed, and the wheels are now custom made and ultra light weight/thin.

I got a new 4200mAh battery, giving a calculated 3 full hours of continuous runtime.

Oh and I just spent another $250 in parts . . .

Three things left to do . . . and I have until the mid April MOBOT contest to finish:
1) CNC and assemble the new design
2) Get the CMUcam to work
3) Integrate all my sub-programs in code to work together
Title: Re: CAD of my newest robot
Post by: paulstreats on February 17, 2008, 06:49:49 PM
The new cad is looking a lot more like a professional robot ;D

Are you going to use your new AXON board as a sole mcu for it?
Title: Re: CAD of my newest robot
Post by: Admin on February 17, 2008, 07:01:48 PM
Quote
Are you going to use your new AXON board as a sole mcu for it?
yeap, thats what the Axon was designed for ;D

although in the future I might have a remote PC perform additional AI or something else processor intensive . . .
Title: Re: CAD of my newest robot
Post by: Admin on February 23, 2008, 01:16:19 PM
Over the last ~3 days I CNC'd and assembled my ERP. He is all wired up too, minus the batteries that have yet to come in the mail.

I am working on programming him now, but I was dumb and forgot my programming cable at work . . . so I can't test my code, but I'll get most of it done this weekend hopefully.

I also broke a servo gear while trying to mod it . . . so got to order a replacement gear set before it can run around . . .

A few pics attached.
Title: Re: CAD of my newest robot
Post by: garriwilson on February 23, 2008, 01:58:47 PM
Quote
I know karate!
Morpheus: Show me.  ;D

Is that little circuit board between the arms a camera? The one with Sharp IR on top.. If yes, why is it closed?
Title: Re: CAD of my newest robot
Post by: Admin on February 23, 2008, 02:06:57 PM
Quote
Is that little circuit board between the arms a camera? The one with Sharp IR on top.. If yes, why is it closed?
yeap, its a CMUcam

Its closed because its a blind ninja.

(actually, its to keep dust off the lens till I finish programming it)
Title: Re: CAD of my newest robot
Post by: paulstreats on February 23, 2008, 06:58:06 PM
Ive just got a plain old camera module, im hopng to use it for better results than a cmu cam. The problem is that i need to program it with a lcd screen to focus it first blaa! why aint there no decent camera modules for robotics that use a low budget!
I mean how are we supposed to get people interested in robotics when its all too expensive (im working on it). I want to start a business but theres no point if it all costs so much, unless......
Title: Re: CAD of my newest robot
Post by: Asellith on February 26, 2008, 01:31:15 PM
First amazing job admin. but I have a few questions. You mentioned CNC. Do you have your own or access to one? If you have one I was interested in getting one and wanted to know some recommendations if you have any. Also now that you have 2 arms wouldn't it be better to open the hands more so you could use both hands to pick something up instead of just one? That will allow you to pickup bigger objects like a pop can.
Title: Re: CAD of my newest robot
Post by: Admin on February 26, 2008, 01:52:24 PM
Quote
I mean how are we supposed to get people interested in robotics when its all too expensive (im working on it).
When I first started making robots back in like 2002, prices were 2x to 3x higher, and only a 3rd the products were even available. And there was no SoR like website either :P I think this trend will continue.

Quote
You mentioned CNC. Do you have your own or access to one? If you have one I was interested in getting one and wanted to know some recommendations if you have any.
I work for the Navy, so I have infinite funding ;D
I use the Haas Mini Mill, but its the only CNC I've ever used so couldn't tell you . . . I use an old version of EdgeCAM to plot the paths. Ideally, you want a CNC thats easy to learn, and low maintenance - the two biggest problems of a CNC (well, that and cost . . .). We also have a large air compression tank needed for the CNC operation . . . it has a tendency to corrode (despite draining it monthly) and needs to be replaced every 2-3 years.

Quote
Also now that you have 2 arms wouldn't it be better to open the hands more so you could use both hands to pick something up instead of just one?
I call it the ERP because its an Experimental Robot Platform. I'll only be adding features to it in the future - including new gripper ideas. Each gripper upgrade I add I'll do to only one arm, so that means the other arm will get an even better gripper in the next upgrade. I'm still thinking of adding a rotating wrist joint, too.

Actually, my distant long term goal is to slowly turn it into a biped. Slowly designing the technology for it, a bottom up design I guess . . .


I guess I'll make another update here. Last night I finished up 90% of the wiring, but my new batteries have yet to come in. Using my old batteries for now . . . Anyway I have it doing basic arm and head motions. Basic arm coordination is now working. Short term goals are to get it to dance, and to test out my CMUcam code (compiles, but no time to test it yet).
Title: Re: CAD of my newest robot
Post by: Admin on March 01, 2008, 09:28:09 PM
In the last few days building this bot I've learned a lot of important lessons I'd like to share . . .

1) I have a table top drill press, with an attached X-Y table, and a small vice attached to that table. I often put a mill bit into it to convert it as a small mill. What I learned is using this to mill out the flange on the large gear when modifying servos is by far the best way to do it.

2) The HS-225BB can only be modified using lesson #1, or using a dremel (the hard way). A simple snip wont work unlike with other servos.

3) Replacing broken gears in servos is fairly easy, both with metal and plastic gears. Had to do both this week . . .

4) Battery pack manufacters aren't consistant on how they attach connectors. My new onlybatterypacks.com connector is reversed from my older battery, and I didn't notice . . . bringing me to lesson #5 . . .

5) Most servos won't break if you reverse voltage, however one of my HS-225MG servos went up in smoke . . . literally tons of smoke. A wasted $35 :( My other HS-225MG, four of my HS-311's, a Futaba S3114, two HS-5245MG's, and two of my HS-225BB servos survived without a problem.

6) My Axon microcontroller 100% survived the reverse 6V 4500mA battery over a 5 second period. Proof that its noob proofed . . . and expert [without his thinking cap on] proofed . . . Always use a power light LED to clue you in quick!


In other news, I got my bot doing dancing and ninja attack moves with its arms/wheels today. Soooo glad I didn't fry anything else . . . The perfectly smooth CNC'd wheels don't work very well on smooth surfaces (expected problem), so I'll have to add some of my rubber tread material to it. I'll report on how that works out after testing.

Tried testing my CMUcam code, but it wasn't working, and I stupidly left my USB cable at work so I can't look at the output data for debugging . . . Good thing it was turned off when the voltage was reverse :)

6 weeks left to finish this bot . . .
Title: Re: CAD of my newest robot
Post by: garriwilson on March 02, 2008, 01:02:42 PM
I'd be slapping myself around if I lost 35$.  ;D

How come the other HS-225MG didn't fry?
Title: Re: CAD of my newest robot
Post by: Admin on March 09, 2008, 07:06:22 PM
Quote
How come the other HS-225MG didn't fry?
That my friend is a $35 question (I have no idea).


Another quickie update:

I just replaced every screw on the robot . . . I don't like hex anymore, now using phillips 4-40 screws. Took me an entire hour to do it . . . the screw count, if I counted correctly, is 94 screws :o

The balance on the robot is still kinda bad . . . same problem I mentioned a long time back . . . I'm gonna find my other caster and just add a second one.

Lastly, the wiring is sooooo messy! The wire count is like ~140+ and not everything is even hooked up yet . . . and despite my efforts to keep it organized its still really bad. I'll have to replan it out in the next iteration.

Also made progress on programming the CMUcam . . . but its still not working yet. I decided I'll get a different camera soon, either AVRcam or maybe CMUcam2 . . . because the orginal CMUcam has a serious software bug preventing it from working outside in sunlight.
Title: Re: CAD of my newest robot
Post by: Admin on March 23, 2008, 11:02:09 AM
The long awaited update!

Actually, originally I was holding off to show you guys a better demo, but then I realized the ERP fundamentally will never be finished. Its experimental, I'm changing it all the time . . .

Anyway, another motion test video:
[youtube]V7v_RbRINLw[/youtube]

(the servo on the left arm is still fried, but you can't tell)

I put some effort into documentation here, with a few new pics:
http://www.societyofrobots.com/robot_ERP.shtml

Code for the version that used the $50 Robot controller, for those that want it:
http://www.societyofrobots.com/downloads/ERP_ATmega8_old_code.zip

And lastly, I uploaded here two CAD images of the newest version I am working on. It uses the new Blackfin camera, has an extra caster for balance, and I evil-fied the gripper ;D

I should be making and assembly the new parts this week.
Title: Re: CAD of my newest robot
Post by: airman00 on March 23, 2008, 11:03:31 AM
put a plastic (or real) sword or a gun on that thing !  ;D
Title: Re: CAD of my newest robot
Post by: ed1380 on March 23, 2008, 11:35:56 AM
wow that thing moves fast. are those regular speeed servos?
Title: Re: CAD of my newest robot
Post by: Admin on March 23, 2008, 11:59:29 AM
Quote
are those regular speeed servos?
As I mentioned earlier: ;)
Quote
5) Most servos won't break if you reverse voltage, however one of my HS-225MG servos went up in smoke . . . literally tons of smoke. A wasted $35  My other HS-225MG, four of my HS-311's, a Futaba S3114, two HS-5245MG's, and two of my HS-225BB servos survived without a problem.
Title: Re: CAD of my newest robot
Post by: Asellith on March 23, 2008, 12:21:38 PM
Now all you have to do is develop a sequence timed to the song Kung Fu Fighting :)
Title: Re: CAD of my newest robot
Post by: Roberto on March 25, 2008, 08:29:55 PM
Hey ADMIN, just wondering, what wheels are those and where did you get them?

EDIT: Sorry, just read you made them yourself.












Title: Re: CAD of my newest robot
Post by: Admin on March 26, 2008, 08:52:38 PM
Figured I'd give a quickie update.

The newest version has been fully assembled (see attached image), minus the on off switch that I forgot to make a mount for . . .

Its significantly more stable now that I got that second omni wheel in there. The new claw can finally grab and hold stuff. Still haven't bought a replacement shoulder servo . . .

Currently I am working on getting the blackfin camera functional, and soon after that Ill be trying to get my Axon to communicate with it. I also made a mount for my digital compass, so at some point I'll [finally] integrate that too.

Now I just got to make sure the ninja arms don't karate chop the camera off during testing . . .
Title: Re: CAD of my newest robot
Post by: tpi008 on April 02, 2008, 12:47:43 AM
Figured I'd give a quickie update.

The newest version has been fully assembled (see attached image), minus the on off switch that I forgot to make a mount for . . .

Its significantly more stable now that I got that second omni wheel in there. The new claw can finally grab and hold stuff. Still haven't bought a replacement shoulder servo . . .

Currently I am working on getting the blackfin camera functional, and soon after that Ill be trying to get my Axon to communicate with it. I also made a mount for my digital compass, so at some point I'll [finally] integrate that too.

Now I just got to make sure the ninja arms don't karate chop the camera off during testing . . .

What is the laser for and what does it do?

I have a crap load of lasers units if anyone is interested in making a deal with me. I have enough lasers for everyone in this forum and maybe more. If anyone is taking on a project similar to this one and need lasers. I can help you out. I'm glad That my stock pile of lasers will have use.
Title: Re: CAD of my newest robot
Post by: Ro-Bot-X on April 02, 2008, 01:03:19 AM
Are you using PID with your drive servos? How do you accelerate and slow down? I have a hard time figureing this out for my robot and didn't find samples on the net to help me out. I think a pseudocode will help to better understand the ideea than a piece of C code that I can't understand completly (yet...). Think you may be able to help me out here? And others for that matter...

I will start a new topic for this.
Title: Re: CAD of my newest robot
Post by: Admin on April 06, 2008, 04:24:15 PM
A few quick updates . . .

The arm servo broke AGAIN for a 3rd time!!! Argghhh!! I'm going to have to redesign the shoulder mounts and do new calculations for some other new servo type. I'm tired of buying $30 HS-225MG servos that break . . .

Also, I'm shocked that no one noticed this but . . . 2 castors + 2 wheels will not work! 3 points on a plain work, but not four . . . so I recently designed and completed a neat suspension system for the omni wheels. I'll post pics and a video of the suspension system when I finalize the design.

Quote
What is the laser for and what does it do?
To blind victims! hehe

Actually, you can do neat ranging stuff with a laser combined with a camera.

Quote
Are you using PID with your drive servos? How do you accelerate and slow down? I have a hard time figureing this out for my robot and didn't find samples on the net to help me out.
Are you referring to using encoders with servos?

I'm somewhat religiously against PID . . . I prefer using fuzzy logic for robots. It's simpler, faster, and almost as reliable. You are only kidding yourself if you think deadreckoning works for home based robots . . . With a few exceptions, I'm mostly against encoders, too . . .

Here is a typical fuzzy logic control algorithm:

loop:
{
read sensor values
compute distance needed to travel

//average new value with old motor values
motor_output =
((distance to travel)*(tweak constant) + old_motor_output*3)/4

//store old motor values
old_motor_output = motor_output
}

Not high precision, but really easy and works well under realistic settings. It also does not require the use of encoders!

ps - this is the algorithm I use to control the camera for smooth object tracking
Title: Re: CAD of my newest robot
Post by: Brandon121233 on May 21, 2008, 04:05:38 PM
Hey Admin did you ever get your robot working since the RoboFest? Or any other new updates?
Title: Re: CAD of my newest robot
Post by: Admin on May 21, 2008, 05:52:48 PM
It turned out it didn't work because the battery and/or charger wasn't working. I've been trying to get it replaced since, but the company is being 'difficult' . . . I have new updates, but been too busy to post them. It will probably be a month before I find time!
Title: Re: CAD of my newest robot
Post by: Admin on May 24, 2008, 06:28:53 PM
A new update finally. I basically documented my new suspension system and wrote a tutorial on it:
http://www.societyofrobots.com/mechanics_robot_suspension_system.shtml

Be sure to watch the video!

I also have videos of ERP tracking fire with the camera and other neat things, but I'm pretty busy lately and it'll be awhile before I get those written up.

I need to redesign the arms to handle a new servo . . . the hitec ones keep frying so I'm going to try out Futaba when I have time.
Title: Re: CAD of my newest robot
Post by: Steve Joblin on May 24, 2008, 07:20:58 PM
Awesome job Admin!  Very Very Very Cool!!!!!

There are lots of robot sites, but it is items like this that put this site as one of the best (if not the best!)!

Seems like the next logical step is to set up eCommerce capabilities and start selling those wheels!!
Title: Re: CAD of my newest robot
Post by: Tsukubadaisei on May 24, 2008, 09:50:42 PM

Quote
Are you using PID with your drive servos? How do you accelerate and slow down? I have a hard time figureing this out for my robot and didn't find samples on the net to help me out.
Are you referring to using encoders with servos?

I'm somewhat religiously against PID . . . I prefer using fuzzy logic for robots. It's simpler, faster, and almost as reliable. You are only kidding yourself if you think deadreckoning works for home based robots . . . With a few exceptions, I'm mostly against encoders, too . . .


I mix both pid and fuzzy. When I am linetracing(just like you do in MOBOT) I use fuzzy. But when I have to use mapping techniques lasers (or cameras) for long periods, encoders(or stepper motors, though I dont like them) are essential. Also that Airship I built uses PID for automatic height control. It is impossible to go for more then 5 meters in a straight line without somesort of speed and position feedback. A curved path is totally out of question. I think fuzzy is better for interacting with external objects. If I were you I would use fuzzy for the manipulator and pid for the wheels. But that is just my opinion.
Title: Re: CAD of my newest robot
Post by: Parth on June 06, 2008, 06:53:09 PM
 :o Wow, all this stuff is complicated! I can't wait till I get better at robotics and make stuff like this  :P
Title: Re: CAD of my newest robot
Post by: S. Karim on June 08, 2008, 07:41:12 PM
Wait, how did you get a CMUCam to interface with the Axon?
Title: Re: CAD of my newest robot
Post by: Admin on June 08, 2008, 07:49:50 PM
Its easy, you just hook up the Rx,Tx, power, and Gnd pins and you're done.

But I never got around to writing the software for it . . .

I just saw your other post asking more about it in my Axon thread . . . I'll answer it in the next few days as I finish up the Axon documentation.
Title: Re: CAD of my newest robot
Post by: Admin on June 15, 2008, 07:14:42 PM
I haven't had any time to work on ERP in months beyond documenting it. I still need to replace the arm servos with ones that don't break, and also add in an arm motion smoothing algorithm.

For now, enjoy the camera tracking demo.

[youtube]x2od63eroPY[/youtube]
Title: Re: CAD of my newest robot
Post by: Brandon121233 on June 18, 2008, 03:13:54 PM
whats the light inside the paper ball for?
Title: Re: CAD of my newest robot
Post by: Admin on June 18, 2008, 03:57:47 PM
Its a blue led, and I programmed ERP to track only blue (not white).

The led has an angle of only like 20 degrees, so the white paper diffused it so the camera could see it better.
Title: Re: CAD of my newest robot
Post by: Trumpkin on June 18, 2008, 08:04:31 PM
very nice. whats up with the pikachu?
Title: Re: CAD of my newest robot
Post by: heartpooh on July 07, 2008, 09:46:56 PM
hi admin, i wonder if u could explain to me the properties of using the omni wheels?
Title: Re: CAD of my newest robot
Post by: Admin on July 08, 2008, 05:02:49 AM
Quote
i wonder if u could explain to me the properties of using the omni wheels?
For this robot I'm just using them as caster wheels.

check this out:
http://www.societyofrobots.com/robot_omni_wheel.shtml


No new ERP updates at the moment . . . been too busy with the Axon:
http://www.societyofrobots.com/axon
(the same mcu that I use on ERP is now available for sale)
Title: Re: CAD of my newest robot
Post by: Cotowar on July 10, 2008, 09:49:27 PM
Someone asked about a CNC machine. CNC machines come in all shapes and sizes, from the one in my garage on the bench, to the one at my dad's work with 10-axis milling. It's all in what you want to do, and how much you are willing to pay.

Just go to home depot, lowes, or menards and ask about it. I'm sure they can hook you up.

if not, try these
http://www.cncmasters.com/CNC%20Supra%20Retrofit%20Kit.htm
http://www.minitechcnc.com/
Title: Re: CAD of my newest robot
Post by: Admin on July 13, 2008, 11:46:05 AM
[admin spam]

The contest ends in ~3 days, help me win!

vote here by clicking 'vote' at the top right-ish area of the page:
http://www.instructables.com/id/Experimental-Robot-Platform/

[/admin spam]
Title: Re: CAD of my newest robot
Post by: garriwilson on July 13, 2008, 03:02:33 PM
[admin spam]

The contest ends in ~3 days, help me win!

vote here by clicking 'vote' at the top right-ish area of the page:
http://www.instructables.com/id/Experimental-Robot-Platform/

[/admin spam]
*gasp* admin spammed *gasp*
lol i voted like a week ago
Title: Re: CAD of my newest robot
Post by: Admin on August 13, 2008, 01:41:04 PM
ERP won the instructables contest! yaaaaaay!

(and thanks for the votes everyone!)

http://www.instructables.com/community/RoboGames_Robot_Contest_Winners/
Quote
The author of this Instructables will receive a trip to the June 2009 RoboGames in San Francisco, CA! Includes airfare for one from anywhere within the continental US, 4 nights in a hotel near the event, and VIP access/entry fees.

I'll make sure to take lotsa vids and pics to share for everyone. I guess ERP is now entering another contest, just got to finish all the upgrades . . .
Title: Re: CAD of my newest robot
Post by: vidam on August 13, 2008, 02:27:54 PM
ERP won the instructables contest! yaaaaaay!

(and thanks for the votes everyone!)

http://www.instructables.com/community/RoboGames_Robot_Contest_Winners/
Quote
The author of this Instructables will receive a trip to the June 2009 RoboGames in San Francisco, CA! Includes airfare for one from anywhere within the continental US, 4 nights in a hotel near the event, and VIP access/entry fees.

I'll make sure to take lotsa vids and pics to share for everyone. I guess ERP is now entering another contest, just got to finish all the upgrades . . .

That's awesome news! Congrats on winning!
Title: Re: CAD of my newest robot
Post by: Admin on October 11, 2008, 01:02:44 AM
Finally, a new update. I improved the arm and gripper, and made two of the same arms so now ERP has two grippers.

http://www.societyofrobots.com/robot_ERP.shtml#gripper

I haven't had much time to focus on ERP right now, but I've been doing a lot on algorithm development. I'll probably have some more new stuff in about a month or two.
Title: Re: CAD of my newest robot
Post by: Joesavage1 on March 01, 2009, 01:23:19 AM
OMG INFINITE FUNDING!!!!!!!!! LUCKY!!



Joe
Title: Re: CAD of my newest robot
Post by: Admin on April 16, 2009, 04:53:43 AM
I've been working on ERP again lately. Since in the long term I want it to play fetch with me, I figured I should test out simple grab and throw capabilities. See demo video below.

I also upgraded the arm software using my SoR Biped Engine (http://www.societyofrobots.com/sor_biped_engine.shtml). It no longer does ultra-fast servo-breaking ninja moves, but smooth tai chi style movements. It might take me awhile before I upgrade a video on that . . . the next step would be to get the camera to track *and* move the arm to grab the ball wherever it is.

Robot Grabs &amp;amp; Throws ERP test (http://www.youtube.com/watch?v=hR2eW1jm7z0#lq-lq2-hq-vhq)
Title: Re: CAD of my newest robot
Post by: Ro-Bot-X on April 16, 2009, 06:12:46 AM
That is so cool! Congrats!

Now I have to teach MiniEric to do that, using both arms of course... But after we move to a new home at the end of the month.

I like the background, it's a lot easier to use the camera with a single background color, that's where I'm having problems.
Title: Re: CAD of my newest robot
Post by: Admin on June 20, 2009, 08:43:11 PM
Some new features have been added to ERP. The first video shows how I gathered up the wiring - the arms kept ripping out the servo wiring before I did this:

Robot Wiring Organization Tutorial (http://www.youtube.com/watch?v=WjF1n4bQjVk#lq-lq2-hq)


This is a 3D scanning and mapping test for my ERP. Its basically mapping obstacles, then choosing the most free path. It scans in only 30 points, so its fairly poor resolution. It's only the first step for a more advanced algorithm in the future.

Robot 3D Scanning and Mapping (http://www.youtube.com/watch?v=Qq4WnnCJtEE#lq-lq2-hq)
Title: Re: CAD of my newest robot
Post by: kpmcgurk on June 20, 2009, 08:58:38 PM
That wire rapping stuff is really useful! Our team was able to get a large roll of it from one of our sponsors, It turned a huge robot of wires everywhere and made it nice and neat!! but when the competition came, we where way overweight so we where forced to use zip ties.

I would reccomend this rap to anyone who has a robot with loose wires everywhere!! It is a must have

-Kyle
Title: Re: CAD of my newest robot
Post by: RoboChan on June 21, 2009, 07:53:24 PM
how did you do that stress analysis with inventor??
Title: Re: CAD of my newest robot
Post by: Admin on June 21, 2009, 08:02:46 PM
how did you do that stress analysis with inventor??
It has a stress analysis add-on . . . that costs a lot of money :P
Title: Re: CAD of my newest robot
Post by: Tsukubadaisei on July 06, 2009, 05:16:04 AM
Why do you take so many samples on the same position?
I mean, I think I know the answer but sensor passes through the same spot several times and the overall performance is slow. Area scanners are pretty slow, even the URG I got last year(search the forum for the pictures) was pretty lazy(500ms per full scan). I know Admins device is still a prototype and it is supposed to be slow, but I cant understand the reason you go back to the same spot and scan it again. It is just way too slow(sorry if I sound rude, I dont mean it).

I dont know what are you trying to do, but I think taking several samples and then you take the mean(or some other filtering procedure). If that is the case then why dont you take saveral samplings at once and the move to the next position. After you got the readings for all the positions, the robot moves. No repeating. Usually ucontrollers can sample at the order of MSPS, so that should'n be a problem. That is how the original URG I've go does its job at least.

BTW, since you are building your on area scanner, I think I gonna post the drawings for my own are scanner. After I've got my URG, I reversed engineered it and desing a (much) cheaper, but unfortunatelly, not as precise version using several SHARP PSD sensors, unfortunatelly I havent got time to build it but I would be interested to see if my concepts can be useful for anything. I will post it during the weekend when I am back home.
Title: Re: CAD of my newest robot
Post by: paulstreats on July 06, 2009, 05:43:41 AM
Quote
Why do you take so many samples on the same position?

Its not sampling the same place. its actually panning left to right then tilting down a bit then panning left to right then tilting down. Its to provide a 3D scan rather than just a 2D linear scan
Title: Re: CAD of my newest robot
Post by: Admin on July 06, 2009, 06:36:53 AM
paulstreats is correct.


But anyway, this was only a test for a more advanced algorithm. Ideally ERP won't stop moving, and the scanning will be continuous. 3D scanning is slow, so it'll only occasionally do broad sweeps, then focus only on close objects for high accuracy scans. Its a bit tricky to create 3D maps as the robot is moving! I also need to figure out nicer ways to store and reuse old mapped scans.

Also, currently it scans only from left to right. I was too lazy to have it scan from right to left (during the return motion). That'll be for the next upgrade!

I think I'm going to add GPS on ERP soon. I found a rooftop parking lot with few cars perfect for it :)
Title: Re: CAD of my newest robot
Post by: Tsukubadaisei on July 06, 2009, 07:42:19 AM
I see thanks. Really smart approach for 3d scanning. Good luck!
Title: Re: CAD of my newest robot
Post by: Admin on July 20, 2009, 08:57:59 PM
Hows for a little instructional vid? ;D

http://www.youtube.com/watch?v=9NzCJoTK7VY
Title: Re: CAD of my newest robot
Post by: SmAsH on July 20, 2009, 09:30:30 PM
great video admin! i take it that isn't the order that you used to put it together?
will you be posting an assembly video?
Title: Re: CAD of my newest robot
Post by: Joker94 on July 21, 2009, 04:05:26 AM
brilliant video admin, how long did it take.
Title: Re: CAD of my newest robot
Post by: Admin on August 04, 2009, 07:03:32 PM
I call my new artwork, 'Wall-ERP'  ;D

(http://www.societyofrobots.com/images2/Wall-ERP_small.png)

And two more less exciting ones here:
http://www.societyofrobots.com/robot_ERP.shtml#photorealistic
Title: Re: CAD of my newest robot
Post by: SmAsH on August 05, 2009, 01:32:37 AM
what the...
where is erp supposed to be? space?
Title: Re: CAD of my newest robot
Post by: Admin on August 05, 2009, 06:18:00 AM
I think this will clear things up. Somebody isn't a Wall-E fan and therefore a traitor! :P

http://www.cinemaisdope.com/news/films/walle/walle.jpg (http://www.cinemaisdope.com/news/films/walle/walle.jpg)

(http://www.cinemaisdope.com/news/films/walle/walle.jpg)



edit: That site banned images being shown on other websites, so follow the link instead . . .
Title: Re: CAD of my newest robot
Post by: BANE on August 05, 2009, 06:22:05 AM
Nice admin :D  I love wall-e.   Did you photoshop the background?
Title: Re: CAD of my newest robot
Post by: Admin on August 05, 2009, 07:00:11 AM
Nice admin :D  I love wall-e.   Did you photoshop the background?

Nope, I simply set it as my CAD background image in Inventor. If you look carefully, you'll see Wall-E hidden behind ERP.
Title: Re: CAD of my newest robot
Post by: SmAsH on August 05, 2009, 03:14:44 PM
ahh, is that a track set behind erp's right wheel?
unfortunately i have never seen the movie, i was hoping to once... but it was sold out... and i never got around to it...
Title: Re: CAD of my newest robot
Post by: Joker94 on August 06, 2009, 01:23:22 AM
nice one admin, if you did not tell us we would not have seen it ;D
Title: Re: CAD of my newest robot
Post by: Admin on September 20, 2009, 08:06:05 AM
Another RoboGames 2009 video, with ERP making friends. Unlike what you see in the video, most children decided that grabbing ERP, jumping over him, driving other robots into him, or attempting to remove the camera were all good ideas.

One mother decided to let her 1 year old chase it for 10 minutes . . . ERP was just slightly faster . . .

luckily I had replacement servo parts when it got run over . . . anyway, enjoy the vid!

ERP Robot Makes Friends (http://www.youtube.com/watch?v=7DFbLc1QTGc#)
Title: Re: CAD of my newest robot
Post by: MangoBot on September 20, 2009, 09:49:57 AM
good idea, it would be cool to add a little carpet monkey to it
Title: Re: CAD of my newest robot
Post by: izaktj on September 22, 2009, 06:06:49 PM
Good stuff
Vids like those are really motivating
Title: Re: CAD of my newest robot
Post by: kpmcgurk on September 27, 2009, 11:16:36 AM
I just saw a picture of ERP in Robot Mag! Great job admin!
Title: Re: CAD of my newest robot
Post by: Admin on September 27, 2009, 12:21:23 PM
I just saw a picture of ERP in Robot Mag! Great job admin!
yea, Ro-Bot-X had told me a few days ago . . . can anyone post a pic of it here? I don't have a subscription . . .
Title: Re: CAD of my newest robot
Post by: Ro-Bot-X on September 27, 2009, 07:28:34 PM
I just saw a picture of ERP in Robot Mag! Great job admin!
yea, Ro-Bot-X had told me a few days ago . . . can anyone post a pic of it here? I don't have a subscription . . .

Robot Magazine, issue Nov/Dec 2009, page 75, article about RoboGames 2009.

Here is a pic of the page (had to resize the pic a bit...):
Title: Re: CAD of my newest robot
Post by: Admin on October 24, 2009, 08:09:41 PM
Lem from robots-dreams came over to check out ERP during RoboGames '09, so I gave him a demo. You'll see ERP grabbing/throwing stuff, and trying not to drive off the table. About 5% of the time he would, so not perfect yet!

Society of Robots: Experimental Robot Platform (http://www.youtube.com/watch?v=6e0MhG-FsV4#)


I plan to redo the ERP software 100% to make it WebbotLib compatible probably late December. Plus, I have a bunch of videos that I haven't uploaded yet with ERP doing more tricks . . .
Title: Re: CAD of my newest robot
Post by: Joker94 on October 25, 2009, 02:28:06 AM
Plus, I have a bunch of videos that I haven't uploaded yet with ERP doing more tricks . . .

i cannot wait to see them ;D
Title: Re: CAD of my newest robot
Post by: Admin on February 01, 2010, 05:15:57 AM
For those who use WebbotLib and/or the Axon/Axon II, you'd be happy to know I've converted (entirely rewrote from scratch) ERP software to use WebbotLib:

http://www.societyofrobots.com/downloads/ERP_code_020110.zip (http://www.societyofrobots.com/downloads/ERP_code_020110.zip) (for WebbotLib v1.14)
(well commented for anyone to use)

The rewrite also allowed me to really clean the code up with my latest robot programming techniques. :)

Most of the code works, but I'm in Thailand and can't find a replacement HS-311 to test my latest 'play fetch' code . . . HS-311 for a wheel fried for no reason. :-\

note: I haven't yet transferred the 3D mapping program, yet. I'm thinking of a new faster way to do it that no one has done before . . .
Title: Re: CAD of my newest robot
Post by: Hertz32 on February 01, 2010, 11:32:48 AM
admin do u live in tahiland or jus visiting
Title: Re: CAD of my newest robot
Post by: Admin on February 01, 2010, 10:14:12 PM
admin do u live in tahiland or jus visiting
both! I have a bad habit of taking 6 month vacations here often . . .
Title: Re: CAD of my newest robot
Post by: Hertz32 on February 02, 2010, 07:53:51 AM
hw uch muny u have?! :o
Title: Re: CAD of my newest robot
Post by: Admin on February 04, 2010, 10:28:32 AM
hw uch muny u have?! :o
6 month vacations without paychecks, what do you think? :P


I have another update (backdate?), as I never published my videos I took back in April 2009. I just got around to it.

http://www.societyofrobots.com/robot_ERP.shtml#biped_engine2 (http://www.societyofrobots.com/robot_ERP.shtml#biped_engine2)

I included some videos I took of Thailand in the background just for fun.

Robot Chroma Key and Dance Demo (http://www.youtube.com/watch?v=RV9mvyBiaV8#)
Title: Re: CAD of my newest robot
Post by: Hertz32 on February 04, 2010, 10:57:24 AM
lol
weird but cool
Title: Re: CAD of my newest robot
Post by: Admin on February 13, 2011, 07:38:11 PM
I've been too occupied with traveling, making money, secret projects . . . and girls . . .

But I finally managed to pull myself together and add another ERP upgrade! :P

That weird look on my face is me trying to read the wireless data in hyperterminal to make sure I time my voice properly . . . it wasn't as reliable as I made it look, but it's getting there!

Voice Controlled Robot (http://www.youtube.com/watch?v=nEOwTzV8qak#)
Title: Re: CAD of my newest robot
Post by: mallster on February 14, 2011, 02:27:14 AM
Hi Admin,

Is it possible to combine all of your erp programs into one? Lets say- Head track, manual, random dance and vr bot?

I have been trying but with limited success. in combining manual and random dance but fails when I add head track.

Is doing this asking too much from the Axon? I would like to know before i rush out and buy a vrbot.

Anyway, nice work- keep it up....

Mallster
Title: Re: CAD of my newest robot
Post by: Admin on February 14, 2011, 05:19:09 AM
Yeap it's possible, although my code won't be able to do it as-is.

You'll need to add in a scheduler that swaps between the code groups using WebbotLib.
Title: Re: CAD of my newest robot
Post by: Admin on February 14, 2011, 08:18:59 AM
Is it possible to combine all of your erp programs into one? Lets say- Head track, manual, random dance and vr bot?

I have been trying but with limited success. in combining manual and random dance but fails when I add head track.
Wait, are you saying you have an ERP-like bot?! :o

lol, it was early morning and I wasn't awake enough to realize the ramifications of your question . . .

The VRbot is a bit limited, though. I'm still playing around with it to make it more reliable (the video was under perfect conditions in a quite room). Servo noise is loud and causes it to not work when your bot is moving. It limits you at 32 words, meaning 16 words if you want two languages. Later updates to my code will include some form of limited grammar, allowing word combinations for maybe ~50 different commanded actions.
Title: Re: CAD of my newest robot
Post by: mallster on February 14, 2011, 04:04:21 PM
Thats good news. I thought you was going to say- buy 4 axons :o

Hopefully there's a nice sample in the webbot manual.
Title: Re: CAD of my newest robot
Post by: Kylepowers on May 11, 2011, 10:59:02 AM
I really like your ERP admin. I have one question though. When its doing the visual tracking is it sending data back to a computer?
Title: Re: CAD of my newest robot
Post by: Admin on May 11, 2011, 11:24:24 AM
When its doing the visual tracking is it sending data back to a computer?
The Axon tells the Blackfin to 'find the center location of the biggest color blob'. The Blackfin does all the vision processing on board, then says back to the Axon 'the center location of the biggest color blob is X, Y'. It can ask other questions, like the size or color of the blob, or track more than just one blob/color, etc.

So no, everything is being done on just the Blackfin and Axon.