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Dexter-2 Universal Robotic Research Platform

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... User Interface Mapper GUI Shortest Path Algorithm LEGO Mindstorm And LEGO Vision Command LAN Control LAN Control using LEGO Mindstorm And LEGO Vision Command ... – PowerPoint PPT presentation

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Title: Dexter-2 Universal Robotic Research Platform


1
Dexter-2Universal RoboticResearch Platform
GROUP MEMBERS Sachitanand S. Malewar
Anish Mohan
Mukarram Baig
Sachin Prabhu

PROJECT GUIDE Prof. K. G. Balakrishnan
2
Use of universal robotic research platform
  • Used in cutting edge research worldwide.
  • Widely used in research labs and industry.
  • Used for development and testing of new
    algorithms.
  • Used for rapid development in real time
    application.
  • Used in educational institutes for giving
    students
  • exposure to robotics.
  • Built around highly up scaleable architecture.
  • They also provide huge numbers of functionalities
  • for further up gradation.
  • Due to their universal nature robots can be
  • programmed in any languages.

3
Aspects of Universal Robotic Research Platform
  • Powerful onboard computer with neural
    co-processor
  • Accurate locomotion
  • Wireless connectivity with external world
  • Efficient and accurate navigation system
  • Pinpoint positioning systems
  • Accurate mappers with intelligent path planning
    algorithms
  • Arrays of image processing tools
  • 3D vision for depth recognition
  • Intelligent robot Human interaction using
    artificial neural networks
  • Precision robotic arm with forced feedback
  • Array of control modes
  • Onboard LCD display

4
Existing options
  • Pioneer series robots

5
Dexter-2 Universal Robotic Reaserch Platform
6
Various Parts of Dexter-2
7
Dimensions of Dexter-2
8
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9
Construction of the robot using multiple decks
10
Adjusting Center of Gravity of The Robot
11
Locomotion System
12
Locomotion
Configuration Four wheel differential drive
Suspension Four wheel independent type
Shaft encoder Independent positional shaft encoder
Weight of the motor 1.24Kg.
Stall torque 153Kg/cm
Nominal torque 60Kg/cm
Wattage 25Watts
Maximum RPM 60 RPM
Wheel material Rubber coated composite material
Wheel diameter 100mm.
Horizontal thrust/motor 12Kg./motor
Total Horizontal thrust 48Kg
Maximum velocity 31cm/s
13
Parts of the Locomotion System
14
Four wheel Differential Drive
15
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16
Shaft Encoder
17
Locomotion control
18
Onboard computer
  • Processor-Intel 2.4 GHz Hyper threading with
    800MHz Front side bus
  • Intel 865PE chipset
  • ASUS P4P 800 DELUX Mother board
  • 1GB DDR RAM in Dual DDR configuration
  • North Bridge with 6.4GigaBytes/Sec 40 bit Bus
  • ICH5R controlled south bridge working at 700MB/S
  • Two 80 GB 7200 RPM Hard discs in RAID
    configuration
  • Serial ATA
  • Onboard IEEE 802.11b wireless LAN
  • 1GB/s Giga bit LAN
  • Two printer ports and four serial ports
  • Eight USB 2.0 ports working at 450MB/s
  • Two IEEE 1394 Fire wire ports
  • Five PCI slots
  • Ai based dynamic overclocking
  • Supports composit video signal

19
Front Side of Onboard computer
20
Back Side of Onboard computer
21
Side View of Onboard computer
22
Wireless Keyboard and Mouse With TFT LCD Display
23
Mounting position of TFT LCD and Long Range
Infrared Scanner
24
Navigational systems
  • Dynamic ultrasound terrain mapper gives detailed
    terrain
  • map of surrounding including obstacles in the
    path.
  • Infrared positioning system pinpoints robots
    position
  • in polar coordinates
  • Infrared orientation system provides information
    about
  • robots orientation
  • Infrared docking system helps robot to dock to
    docking
  • station.
  • Infrared range finder
  • Gyroscopes
  • Accelerometers

25
Mounting of The Navigational Systems
26
Ultrasonic terrain mapper
  • Type- Dynamic terrain scanning
  • Range- 6 Meters
  • Accuracy- 1 cm
  • Readings- 48/360 degrees
  • Reading speed- 0.3 sec

Mapped terrain
Video
27
Infrared positioning system
  • Gives robots position with 0.2 degrees in polar
    coordinates
  • Transmits robots position with 9Kbps 412MHz
    wireless link

28
Infrared positioning system
29
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30
Infrared Orientation System
  • Infrared orientation system is mounted on the
    robot
  • It gives orientation of the robot with respect to
    infrared positioning system
  • It is like infrared compass

31
Infrared Orientation System
32
Laser Range Finder
33
Piezoelectric Gyroscope
Gyroscope board Piezoelectric Gyroscope
34
Robotic arm
  • Nine axis robotic arm
  • Configured in PRPPRPRRR
  • Best power to weight ratio

35
Robotic arm
Robotic Gripper Arm Specifications Robotic Gripper Arm Specifications
Configuration PRPPRPRRR Configuration PRPPRPRRR
Number of axis 9
Max Weight that can be lifted. 1Kg
Max pressure that can be applied 1Kg/cm2
The Gripper can rotate 360 degrees using the slip-ring design of the arm. The Gripper can rotate 360 degrees using the slip-ring design of the arm.
Parallelogram Lift with resistive feed back. Parallelogram Lift with resistive feed back.
36
Axis of Robotic arm
37
Axis number Coordinate system Motion in degree/distance Motor RPM Motor torque
1 Prismatic Infinite distance 42 120 kg/cm
2 Revolute 360 degrees 42 120 kg/cm
3 Prismatic 50cm. 60 70 kg/cm
4 Prismatic 40cm 60 70 kg/cm
5 Revolute 83 degrees 60 70 kg/cm
6 Prismatic 45cm. 50 10 kg/cm
7 Revolute 360 degrees 5 18 kg/cm
8 Revolute 180 degrees 5 18 kg/cm
9 Revolute 360 degrees 5 18 kg/cm
38
Image processing elements
  • Two night vision cameras for 3D vision
  • One colure camera
  • Two USB web camera
  • One Lego camera
  • One ZISC camera
  • Two Pinnacle image grabbing cards
  • Mounted on moveable platform

39
STK 500 Development Board For AVR Microcontrollers
40
ZISC Neural network board
  • Based upon zero instruction set computing
  • The Wizard board processes up to 1 million
    vectors per second
  • Equivalent to billion instructions / second (10
    GIPS)
  • ZISC does not use any algorithms for programming
    the solution
  • On board 2 ZISC chips (156 parallel processors),
    one FPGA totaling
  • 100,000 gates and 1 Mb of memory
  • Up to 1 million recognitions/second

41
Lower Level Image Processing
42
Lower Level Image Processing
Motion Detection
Laser Range Finder
43
Control modes of the robot
  • Remote control
  • Robot control by speech
  • Robot control by analyzing palm movement
  • Controlling robot via a Distributed Network in
    server client environment
  • Controlling robot through internet
  • Automated Navigation To Target
  • Intelligent sonar navigation
  • Mapper
  • Shortest path algorithm
  • LEGO Vision command and LEGO Mind storm
  • RCX 2.0

44
Remote control
  • 50 channel remote control
  • Working on 412 MHz
  • 8 bit security address
  • 50 meters range

45
Long Range Night Vision Camera
Ultra long range active night vision camera with
passive image intensifier lenses
46
Graphical User Interface
47
Mapper GUI
48
Shortest Path Algorithm
49
LEGO Mindstorm And LEGO Vision Command
50
LAN Control
  • LAN Control using LEGO Mindstorm And LEGO Vision
    Command
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