Recon Outdoors Talon IR manuels

Manuels d'utilisation et guides de l'utilisateur pour Robotique Recon Outdoors Talon IR.
Nous fournissons des manuels en pdf 1 Recon Outdoors Talon IR à télécharger gratuitement par type de document : Spécifications

Recon outdoors Talon IR Spécifications (230 pages)

marque: Recon-outdoors | Catégorie: Robotique | Taille: 6.53 MB |

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Table des matières

ABSTRACT

3

ACKNOWLEDGEMENTS

5

TABLE OF CONTENTS

7

Table of Contents

11

LIST OF FIGURES

13

List of Figures

15

LIST OF TABLES

19

1. INTRODUCTION

21

1.2 COMMERCIAL APPLICATIONS

22

1.3 PROJECT SPECIFICATIONS

23

1.4 PROJECT PLANNING

24

1.5 THESIS STRUCTURE

25

2. BACKGROUND

27

2.2.1 TALON™

29

2.2.2 ACER

29

Figure 2.3 ACER robot

30

2.2.4 PackBot

31

2.2.5 Urbie

31

2.2.5 Other robots

32

2.3 EXISTING PLATFORM

33

2.3.1 Drive Motors

34

2.3.2 Drive System Type

35

Background

37

2.4 PROCESSOR ARCHITECTURE

40

2.4.1 Embedded Controller

41

2.4.2 FPGA

41

2.4.3 Handheld PC

41

2.4.4 Laptop Computer

41

2.4.5 Full Size PC

42

2.4.6 ShuttleX PC

42

2.4.7 Selected Architecture

42

2.5 ELECTRONICS POWER SUPPLY

43

2.6 BATTERY SELECTION

44

2.6.3 Battery Ratings

46

2.6.4 Selected Batteries

47

2.6.5 Charging Procedure

48

2.7 DATA ACQUISITION CARD

49

2.8.2 Onboard Video Camera

52

2.8.4 Electronic Compass

53

2.8.5 GPS Receiver

54

2.8.6 Inertial Sensor

55

2.8.7 Motor Drivers

55

3. MOTOR CONTROL

57

3.1.2 Possible Solutions

58

Motor Control

59

3.2 EXISTING MOTOR DRIVERS

61

3.2.2 Co-operating Robots

62

3.3 GENERIC MOTOR DRIVERS

63

3.3.1 Project Outline

64

3.3.2 Hardware Components

65

3.3.3 Software Interface

67

3.3.4 Testing and Evaluation

68

3.3.5 Modifications

70

PWM Frequency

71

Shielding

72

Smoothing Capacitors

72

Ferrite Beads

72

RFI Suppression Choke

73

3.3.6 Summary

74

3.4.1 MAXI Motor Driver Kit

76

3.4.2 MD03 and MD22

77

3.4.3 Tecel D200

78

3.4.4 MDM5253

79

3.4.5 RoboteQ AX2550

80

3.5 SELECTED MODULES

81

3.5.1 Features

82

3.5.2 Interfacing

84

3.5.3 Handheld Controller

86

3.5.4 Programming

86

3.5.5 Status Codes

88

3.5.6 Robot Mounting

89

3.6 Initial Interface Design

90

3.8 MICROCONTROLLER

95

3.8.1 Selected Controller

96

3.8.2 Power Supply

97

3.8.3 Memory Configuration

97

3.8.4 Programming

98

3.8.5 DAQ Card Interface

98

3.8.6 Motor Driver Interface

100

3.9 RADIO CONTROL

101

4. ELECTRONICS AND

103

SENSORS

103

4.1.2 Hard Drive Support

104

4.2 POWER SYSTEM

105

4.2.1 Fuse Box

106

4.2.2 Wiring

106

4.2.3 Power Switch Panel

107

4.3 SENSOR OPTIONS

109

4.3.2 Positioning

110

4.3.2 Ranging

111

4.3.4 Other sensors

111

4.4 ELECTRONIC COMPASS

112

KVH C100 Compass Engine

113

Figure 4.10 KVH C100

114

Handheld Units

115

Honeywell HMR3000

115

True North Revolution

116

TruePoint Compass Module

116

Electronics and Sensors

117

4.4.3 Selected Module

118

4.4.4 Interface Design

119

4.4.5 Mounting Enclosure

120

4.5 GPS

121

4.5.2 Receiver

123

4.6 ACCELEROMETER

124

4.6.1 Advantages

125

4.6.2 Device Specifications

125

4.6.3 Theory of Operation

126

4.6.4 Sensitivity

127

4.6.5 Interface Design

128

4.6.6 Measuring Tilt

129

4.7 SHAFT ENCODERS

130

4.8 INFRARED SENSORS

131

4.8.2 Sensor Response

132

4.8.3 Range Calculation

133

Equation 4.2

134

Equation 4.3

134

4.8.4 Mounting

135

Tracked

137

4.10 ELECTRONICS ENCLOSURE

140

4.11 HARDWARE SUMMARY

141

5. SOFTWARE

143

5.1.1 LabVIEW

144

5.1.2 Visual C++

145

5.1.3 Visual Basic

146

5.1.4 Java

147

5.1.5 MATLAB

148

5.1.6 Linux

148

Software

149

5.2 WIRELESS NETWORK

150

5.2.1 Network Configuration

151

5.2.3 MATLAB Startup

151

5.3 DAQ CARD INTERFACE

152

5.3.2 NI-DAQmx Drivers

153

C:\WINDOWS\system32

154

5.3.4 Channels and Tasks

156

5.3.5 Available Functions

157

5.3.6 MAX Studio

158

5.4 COMPASS INTERFACE

159

5.4.2 Connection

160

5.4.3 Data Collection

161

5.5 GPS INTERFACE

164

5.6.1 Rangefinders

166

Weighted Mean

167

Selected Method

168

5.6.2 Encoders

169

5.6.3 Accelerometer

170

5.6.4 Video Camera

171

5.7 SYSTEM CONFIGURATION

172

5.7.2 Persistent Variables

173

5.7.3 Low Level Control Loop

174

5.7.4 DAQ Safety Pulse

176

5.7.6 Data log Files

177

5.8 MECHATON CONTROL

178

)()()( kKekuku +

179

5.8.2 Heading Control

180

5.8.3 Obstacle Avoidance

181

5.8.4 Navigation

181

5.9 MICROCONTROLER CODE

182

5.10 USER INTERFACE

186

5.10.1 GUIDE

187

5.10.2 TabPanels

188

6. RESULTS & CONCLUSION

193

) or changes

194

6.2 ACCELEROMETER

197

6.2.2 Collision Detection

198

6.2.3 Tilt Measurements

200

Pitch Angle Comparison

201

6.3 ELECTRONIC COMPASS

202

Time (s)

203

Heading (deg)

203

6.4 GPS EVALUATION

204

6.4.2 Heading

205

6.4.3 Long Term GPS Response

206

X StdDev = 2.8998m

208

Y StdDev = 3.7542m

208

DOP vs Tracked Satellites

209

6.5 ROBOT MOTION

210

6.5.1 Motor Operation

211

6.6 INITIAL FIELD TRIAL

213

6.7 TESTING OUTDOORS

215

6.8 FUTURE WORK

216

6.9 SUMMARY

217

GLOSSARY

219

REFERENCES

221

APPENDIX A: CIRCUIT

223

Motor Driver Interface

224

DAQ Card Interface

224

EMI Suppression Devices

224

Power Indicator LED

225

6-15V DC

225

A.4 GPS INTERFACE

226

A.5 ACCELEROMETER BOARD

227

APPENDIX B: CD CONTENTS

229

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