Robot Tipping and Slipping Prevention Marcus Cowan Research

Robot Tipping and Slipping Prevention Marcus Cowan

Research Project Overview • Tasked with developing equations for the prevention and detection of slipping or tipping of a remote controlled four wheeled robot traveling up an incline plane or any uneven surfaces. • Robot future Characteristics and features • • • Motorized Robotic arm Self correction capabilities Detection of tipping or slipping by sound and visual aid Autonomous Project completion Phases • • • Phase (1): Determining tipping and slipping through Matlab input and user control. Phase (2): Tipping and slipping detection implementation through hardware onboard the Robot. Phase (3): Complete autonomous robot with tipping and slipping self correction.

Finding the Center of Mass (Front to Rear) y x

Finding the Center of Mass (Left to Right) y x •

Calibration of Weighing Scales • • Each scale was tested by placing this computer case cover in the same spot on each scale, while each scale was placed in the same exact spot on the table. Results (Average of 3 Trials) • • Scale 1 ( 1. 436 kg) Scale 2 ( 1. 436 kg) Scale 3 ( 1. 430 kg) Scale 4 (1. 433 kg)

Current Center of Mass (Front to Rear) y x Motor • Motor

Current Center of Mass (Left to Right) y x Motor • Motor

Center of Mass without Manipulator Arm Mass y x • Motor

Center of Mass with Manipulator Arm Included r • Motor x Motor

Center of Mass with Manipulator Arm Included •

Center of Mass with Manipulator Arm Included (Calculation) •

Explanation of Matlab Code for COM • Using this code created in Matlab will allow for the center of mass of the robot to be found. This center of mass will include the added weight on the end of the manipulator arm. • The “Ma” value which is the value for the weight at the end of the manipulator arm and the object position coordinates are the only two variables that will change.

Matlab Code for COM Ma 1. 5 1 (Xold, Yold) New COM (1. 385, 0. 94)

Examples using the Matlab code Ma New COM (Xold, Yold) 1. 5 1 1 New COM (Xold, Yold) Ma

Planar Kinetics of A Rigid Body • Problem 17 -37 (14 th Ed)

Planar Kinetics of A Rigid Body • Problem 17 -37 (14 th Ed)

Planar Kinetics of A Rigid Body • Problem 17 -37 (14 th Ed)

Planar Kinetics of A Rigid Body • Problem 17 -37 (14 th Ed)

Planar Kinetics of A Rigid Body • Problem 17 -42 (14 th Ed)

Planar Kinetics of A Rigid Body • Problem 17 -42 (14 th Ed)

Planar Kinetics of A Rigid Body • Problem 17 -42 (14 th Ed)

Planar Kinetics of A Rigid Body • Problem 17 -42 (14 th Ed)

Planar Kinetics of A Rigid Body • Problem 17 -42 (14 th Ed)

Robot Tipping on Flat and Inclined Surfaces • Using the concepts learned from the previous examples problems, a MATLAB code was written to determine if the robot will tip on a flat surface with a certain weight (W 2) at the end of the manipulator arm

Robot Tipping on Flat and inclined Surfaces (Images)

Robot Tipping on a Inclined Surfaces •

Robot Tipping on a Flat Plane •