Difference between revisions of "Talk:RunBot: a Robogame Robot"
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V1 and V2 region 1 | V1 and V2 region 1 | ||
V2 and V3 region 2 | V2 and V3 region 2 | ||
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| + | The matlab code for the motion control simulation is as follows: | ||
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| + | [[Media:M control.zip]] | ||
Revision as of 15:44, 26 March 2010
Requirements
The robot should have:
- a dimension of about 25cm of radius, 20 cm height
- a speed of about 1 m/sec
- omnidirectional movement (Kamro wheels)
- sensors to avoid obstacles (sonars)
- a camera that can be moved up and down (and eventually left and right)
- wireless connection to a computer (Wi-fi)
- Bluetooth connection
- have power enough to move and transmit for at least 2 hours without recharging
- Have the possibility to recharge autonomously
The robot should cost as less as possible
TO DO
- Select HW
** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...) ** Engines (WWW.robot-Italy.com, http://www.jonathan.it/) ** batteries (above, or standard A, AA or AAA type) ** Camera (ST smart cameras, with Ethernet wired link) ** Sonar (already available (see ROBOWII2.0)) ** Blue tooth and WI-FI
- Design body (structure and appearance), sensor placement, eventual movements of the camera
- Implement the robot
- test the robot with a simple game (e.g. RoboWII2.0)
Processor Comparison
This is the processor comparison table, the cells without entry is left blank
| Name | Clock Speed | Ram | Storage | Onboard Devices | Power Consumption | Price | OS | Source Page | |
|---|---|---|---|---|---|---|---|---|---|
| 1 | ESOM270 | PXA270@520MHz | 128 MB SDRAM | 32 MB FLASH PMIC | USB device,Camera interface(QCI),USB host | 0.8 W @ Full running Mode,100mW @ Deep Sleep mode | 76 € | Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2 | http://www.e-consystems.com/esom270.asp |
| 2 | IGEPv2 BOARD | OMAP3530@720 Mhz | 512MB RAM | 512MB ONENAND-FLASH | Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host | 145 € | IGEPv2 running Ubuntu 9.04 | http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55 | |
| 3 | Em-x270 | Intel's XScale PXA270 CPU, up to 520 MHz | 128 Mbyte SDRAM | 512 Mbyte Flash Disk | WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port | 0.2 - 2 W | 76 $ | ce OR linux | http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm |
| 4 | S3C2440 Core Board II | Samsung S3C2440A based on ARM920T, 400MHz | 64MB SDRAM | 64MB NAND Flash | 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling) | 110$ | Windows CE4.2/5.0, 6.0 and Linux2.6 | http://www.embedinfo.com/en/list.asp?id=64 | |
| 5 | Overo™ Air COM [GUM3503A] | OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz | 256MB RAM | 256MB Flash | 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host | 199$ | Linux 2.6.31 or higher OpenEmbedded | http://www.gumstix.com/store/catalog/product_info.php?products_id=226 | |
| 6 | MX31 TurboG5 Module | Freescale i.MX31 @ 532MHz | 128 MB of Mobile DDR | 32 MB of Flash | Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port | Windows CE 5.0 and 6.0 Linux | http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp |
Motion Control
Angle between V1 and X-axis is 30° Angle between V2 and X-axis is 150° Angle between V3 and X-axis is 270°
V1 = F3-F1 V2= F1-F2 V3= F2-F3
Vt= c1*V1 + c3*V3 (region 3) Vt= c1*V1 + c2*V2 (region 2) Vt= c2*V2 + c3*V3 (region 1)
If Vt is between V1 and V3 then region 3 V1 and V2 region 1 V2 and V3 region 2
The matlab code for the motion control simulation is as follows:
