Intelligent Machine Design Laboratory J’Robot Shu Jiang Intelligent Machine Design Laboratory University of Florida 4/17/2007
Mechanical Design Three tiers Arm & Gripper Sensor mounts / tier spacers Camera mount
Sensors IR Sonar CMUcam Track a blob of color Use x and y coordinates of the center of the blob X = 0 – 80 Y = 0 – 143
Controller Motor function Obstacle avoidance Color tracking Left_motor = right sonar value Right_motor = left sonar value Color tracking Left_motor = x + y/5 Right_motor = 80 – x + y/5 Y < # pick up OR drop