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robot [2015/12/15 16:08] szsz |
robot [2016/04/28 23:10] szsz |
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- sensors and other peripherals. | - sensors and other peripherals. | ||
Selected chassis is a Lynxmotion A4WD1 four-wheel body, | Selected chassis is a Lynxmotion A4WD1 four-wheel body, | ||
- | 30 cm long and width. The platform is shown in figure 1. | + | 30 cm long and wide. The platform is shown in figure 1. |
- | {{:wiki:robot:4wd1-robot-aluminum-kit.jpg?nolink&300|}} | + | {{:wiki:robot:capos.png?nolink&600|}} |
Fig. 1. Designed robotic platform based on A4WD1 chassis. | Fig. 1. Designed robotic platform based on A4WD1 chassis. | ||
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* Composite Video Header. | * Composite Video Header. | ||
- | The device runs Linux kernel with either popular distribu- | + | The device runs Linux kernel with either popular distribution. The most basic task of the Pandaboard is to control the |
- | tion. The most basic task of the Pandaboard is to control the | + | |
motor drivers – the RoboClaws | motor drivers – the RoboClaws | ||
- | The RoboClaw 2X15 Amp is an extremely efficient, versa- | + | The RoboClaw 2X15 Amp is an extremely efficient, versatile, dual channel synchronous regenerative motor controller. |
- | tile, dual channel synchronous regenerative motor controller. | + | |
It supports dual quadrature encoders and can supply two | It supports dual quadrature encoders and can supply two | ||
brushed DC motors with 15 amps per channel continuous and | brushed DC motors with 15 amps per channel continuous and | ||
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case). | case). | ||
- | The basic orientation sensors embedded in the robot in- | + | The basic orientation sensors embedded in the robot includes a gyroscope, accelerometer and magnetometer. The |
- | cludes a gyroscope, accelerometer and magnetometer. The | + | |
sensor can be used to determine the position of the robot in two | sensor can be used to determine the position of the robot in two | ||
planes. The diagram of components connections and relations | planes. The diagram of components connections and relations | ||
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The central point of control and communication is the | The central point of control and communication is the | ||
- | Pandaboard. This board has several communication inter- | + | Pandaboard. This board has several communication interfaces which are to control the robot effectors and to collect |
- | faces which are to control the robot effectors and to collect | + | |
information from the sensors. Communication bus between | information from the sensors. Communication bus between | ||
Pandaboard and motor controller was realized using RS232 | Pandaboard and motor controller was realized using RS232 |