Open Source Open Architecture Scalable Modular Robotics Family

Open Source, Open Architecture, Scalable, Modular Robotics Family of Projects, in the Vehicle Systems Technology Track of Multi. Disciplinary Senior Design at RIT Platform Integration Motor Modules DC Motor Control Basic Concept AY 2006 -07 AY 2007 -08 100 kg Payload 10 kg Payload AY 2008 -09 AY 2009 -10 AY 2010 -11 1 kg Payload Small and Rugged Gen 2 w/ Suspension Direct Drive Wheel Gen 1: RP 1 MM +-100° steering angle Mass Production Forward and Reverse Cost Reduction PWM Power Inputs Reliability Testing Encoder Signal Outputs Gen 1: RP 1 Motor Control Downsize RP 10 MC Mass Production Re-use Design Content Cost Reduction Re-use Masks, etc from Reliability Testing P 08201 - Minimal new design, but scale down RP 10 Gen 2: RP 10 Motor Control Gen 2: RP 1 MM Mass Production Cost Reduction Reliability Testing Gen 2 RP 10 MM w/Suspension Gen 2: RP 10 Motor Control Mass Production Cost Reduction Reliability Testing Gen 2: RP 100 Motor Control Electronics to RP 1 Wireless Comm’s Sensors and Feedback Software System Use the Crossbow XCVR Mass produce based on from P 08201, Downsize the Crossbow technology. design Parallel development on a second, drop-in wireless technology as a future option w/ crossbow SPI Buss Comm’s. CAN BUS Comm’s. Incorporate first Generation Open Architecture Wireless System from RIT Encoder data recording and dead reckoning hardware and software validation Encoder feedback control, and rudimentary autonomous obstacle avoidance using ultrasonic transducer feedback. Fully autonomous maze navigation using dead reckoning against a map reference with obstacle avoidance. Develop Linux host machine software library using P 08201 as the development target Assume target microproc is the PIC family Independent Steering Autonomous Navigation Encoder Feedback Alternate Micro-processors as an option to PIC Analog Sensor Logging Slave to Payload Computer Complex Systems of articulated robots Master to Payload Computer