Multifunctional Tank 01
@ October 8, 2009
- Actuators / output devices: Hitec 422 as motors, 2x servo head, 2x servo clamp
- Control method: Autonomous or TV remote
- CPU: Picaxe 14m, 2x Picaxe 28X1
- Power source: Lead 12V 0, 8 Ah
- Programming language: Basic
- Sensors / input devices: Linefollower IR SRF05, laserfinder
- Target environment: indoor
| Attachment | Size |
|---|---|
| Old version - Line following - part 1 | 3.09 MB |
| Old version - Line following - part 2 | 1.28 MB |
| Old version - Object manipulation | 1.55 MB |
| Old version - Find the target and bring home | 2.53 MB |
Hi all,
I renewed my old robot. I upgraded its software in order to act more reasonably.
I detached compas, odometer and fix-distance IR sensors. They were unnecessary to find the target and bring it home.
Target is found by laser-finder in combination with ultrasound. Orientation of robot is now "memorised" from previous maneuvres. This is not very precise, but for short tasks like this it is sufficient.
Also I finetuned the gripper sensors which are "mission critical" on order to see if the target is really "in-front" and "in-between" the jaws. Before it happens that robot only sticked into the targe without catching it. Now, based on signals from jaw tip sensors it centers the position and tries to catch the target at low-center position.
What I did not solve perfectly is the way back. Way forward is divided into three separate pieces. To calculate how to go back home I used too simple algorithm. The preciseness of final home position is worse than +/- 10 cms.
@ Fri, 2009-10-09 22:45
Nice job with the aluminium
@ Fri, 2009-10-09 22:58
Not A Virgin
I do not have a problem with servos or anything else used in RC community.
The main impact was a PICAXE.
I have been breeded on Sinclair SPECTRUM plus some grilled transistors.
BUT, in my 40´ I have found that I can do More.
I willl inform you,
Not dhe dreams, not the intentions, But only Real existing devices.
@ Fri, 2009-10-09 11:23
Really cool!
@ Fri, 2009-10-09 11:31
Done
@ Fri, 2009-10-09 08:38
wow... i think for a first
wow... i think for a first robot this is very impressive
what did you use to drive the motors ?
@ Fri, 2009-10-09 08:43
Motors
As a motors I use tvo Hitec 422 servos. I took away the feedback potentiometers to allow it to run continuously. I then mounted other small potentionmeters on the servo casing. They are used as "zero" setting to trim the full stop without jitters.
Everything is powered from one 12V lead battery. Motors have separate 5V 2A stabiliser. This prevents to create electric noise on the other circuits.
@ Fri, 2009-10-09 00:37
;-)As promised!
;-)
As promised!
@ Thu, 2009-10-08 19:55
First linefollowing videos
I added first linefollowing wideos. See attachments. Quality is really bad because my DV camera said good-bye. I made clips using old Canon Ixus. it is in two parts.
I prepared training ground with not only simple lines, but with some confusing obstacles:
As a stop I used big black square
more details will follow
@ Thu, 2009-10-08 21:24
Nice videos, thank you. And
Nice videos, thank you. And how did you make the odometers?
You have good base for robot that follows line and avoids obstacles - do you plan to take a part in IST Robot, a robot competition in Bratislava (www.robotika.sk)? Maybe we'll meet there.
@ Fri, 2009-10-09 08:38
Odometer