FINAL ORAL PRESENTATION ROBOT: PACKY ROGER RODRIGUEZ IMDL FALL 2011.

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Presentation transcript:

FINAL ORAL PRESENTATION ROBOT: PACKY ROGER RODRIGUEZ IMDL FALL 2011

PLATFORM  ORANGUTAN ROBOT CONTROLLER DEVELOPED BY POLOLU  WOODEN MECHANICAL FRAME (USING SOLIDWORKS AND T-TEC TO DESIGN ANY COMPLEX PARTS.  8 SERVO CONTROLLER + DUAL DC MOTOR DRIVER  XBEE WIRELESS SERIAL COMMUNICATION

SENSOR INSPIRATION - FEATURES  EXPLOIT NEW PHONES FUNCTION TO SAVE COSTS AND BATTERY USAGE WITHIN THE ROBOT  MOTOROLA TRIUMPH ANDROID PHONE  IP WEBCAM APP, FREE APP THAT ENABLES THE PHONE CAMARA TO BE USED IN CONJUNCTION WITH THE WIFI RADIO, AS A WIRELESS WEBCAM  MATLAB IMAGE PROCESSING

BEHAVIORS  OBSTACLE AVOIDANCE  OBJECT SEARCH  APPROACH  ARM AND GRIPPER POSITIONING  GRIPPING (HARD!)  PLACE OBJECT IN BAG  PACKAGING

CHALLENGES  ARM AND GRIPPER MANUVERING AND TUNING  VISION AND CAMERA LAG  COLOR RECOGNITION AND CENTER DETECTION  DIFFERENTIAL DRIVE COMPENSATION  POWER ISSUES – DUAL BATTERY PACKS  SUCTION PUMP POWER CONSUMPTION

FINAL DESIGN

CONCLUSIONS  GREAT ENGINEERING EXERCISE  LOTS OF TROUBLESHOOTING AND WORKAROUND CHALLENGES  SOLID MECHANICAL PLATFORM AND SIMPLE YET EFFECTIVE SOFTWARE - KEY TO SUCCESS  KEEP IT SIMPLE  DIVIDE AND CONQUER!