1. CS-EE 481 Spring 2007 1Founder’s Day, 2007 University of Portland School of Engineering Holonomic Motion Control Authors Grant Hay Jeffrey Hayes Advisor Dr. Lu Industry Representative Mr. Voorheis University of Washington Thank You

2. CS-EE 481 Spring 2007 2Founder’s Day, 2007 University of Portland School of Engineering Agenda Introduction Jeff Background Grant Methods Jeff/Grant Results Grant/Jeff Conclusions Jeff Demonstration Grant

3. CS-EE 481 Spring 2007 3Founder’s Day, 2007 University of Portland School of Engineering Introduction Normal wheeled movement limitations The holonomic concept How our project implemented the concept 3 wheeled design Possible applications of the project Easy usage of C++ movement functions will allow future project developments

4. CS-EE 481 Spring 2007 4Founder’s Day, 2007 University of Portland School of Engineering Background How to control 3 wheels independently? Holonomic wheels LMD18245 (motor drivers) LM628 (motion controllers) Single board computer (motion controller controller) Create a trajectory calculation program and load it onto the SBC

5. CS-EE 481 Spring 2007 5Founder’s Day, 2007 University of Portland School of Engineering Methods Planning Function Specification Project Plan Design Review Top-down planning Implementation Theory of Operations

6. CS-EE 481 Spring 2007 6Founder’s Day, 2007 University of Portland School of Engineering Methods Functional Block Diagram

7. CS-EE 481 Spring 2007 7Founder’s Day, 2007 University of Portland School of Engineering Methods - Schematic Not shown in schematics: A-core I/O pins, and noise filtering capacitors To A-core

8. CS-EE 481 Spring 2007 8Founder’s Day, 2007 University of Portland School of Engineering Methods - Power 24V total to motor drivers

9. CS-EE 481 Spring 2007 9Founder’s Day, 2007 University of Portland School of Engineering Results Mechanical Mount –Includes DC Motors and Holonomic Wheels

10. CS-EE 481 Spring 2007 10Founder’s Day, 2007 University of Portland School of Engineering Results DC Motors 32 variable speeds with 16 in each direction, controlled by motor drivers Attached optical encoders provide feedback to motion controllers Keypad Allows selection of three different movement patterns from the SBC

11. CS-EE 481 Spring 2007 11Founder’s Day, 2007 University of Portland School of Engineering Results

12. CS-EE 481 Spring 2007 12Founder’s Day, 2007 University of Portland School of Engineering Results Single Board Computer (SBC) –Tern A-core 16-bit SBC based on X86 architecture –Initializes LM628s –Contains C++ programming to calculate wheel angular velocities based on pre-planned movement patterns to show full 360 degree directional movement

13. CS-EE 481 Spring 2007 13Founder’s Day, 2007 University of Portland School of Engineering Results LM628-Precision Motion Controllers –Directs optical feedback from motors XNOR –Corrects offset binary number from the LM628’s output to the LMD18245’s DAC input LMD18245-Motor Drivers –3A 55V Speed control, 4bits with 1bit direction

14. CS-EE 481 Spring 2007 14Founder’s Day, 2007 University of Portland School of Engineering Results GAL20V8 tests: –Setup: Using logic outputs from a testing kit to ensure that the GAL chips were properly programmed and functioned as expected. –Result: GAL chips correctly implemented XNOR functions.

15. CS-EE 481 Spring 2007 15Founder’s Day, 2007 University of Portland School of Engineering Results Motor Driver tests: –Setup: Using logic outputs from a testing kit in place of LM628 outputs. –Result: Using the functioning GAL chips, we verified that the motor drivers correctly varied wheel velocity depending on input.

16. CS-EE 481 Spring 2007 16Founder’s Day, 2007 University of Portland School of Engineering Results

17. CS-EE 481 Spring 2007 17Founder’s Day, 2007 University of Portland School of Engineering Results A-core initializations

18. CS-EE 481 Spring 2007 18Founder’s Day, 2007 University of Portland School of Engineering Results LM628 Initialization and data transfer functions

19. CS-EE 481 Spring 2007 19Founder’s Day, 2007 University of Portland School of Engineering Conclusions Future of movement -Holonomic! -Future Plans for Project Improvements -Larger body style -Better electromagnetic interference case -Careful checking of circuitry before powering up

20. CS-EE 481 Spring 2007 20Founder’s Day, 2007 University of Portland School of Engineering Demonstration Three different movements Clockwise Circle: Counter-Clockwise: ZigZag: (What we would be showing with a working A-core SBC)

21. CS-EE 481 Spring 2007 21Founder’s Day, 2007 University of Portland School of Engineering Demonstration Optical Encoder Quadrature Output The optical encoder outputs signals A and B. These are square waves that are 90 degrees out of phase and depending on the period and which signal is leading, you can determine speed and direction of rotation.

22. CS-EE 481 Spring 2007 22Founder’s Day, 2007 University of Portland School of Engineering Thank You. Are there any questions?