Mācību un izpētes robots Festo Robotino®
Mācību un izpētes robots Festo Robotino® ir modulāra, kustīga platforma, kuru iespējams ērti un efektīgi pielietot mācību procesā, piem.apgūstot:
- vispārējo mobilo, automātisko ierīču vadību,
- elektrisko dzinēju vadību un to darba raksturlielumus,
- video attēlu apstrādi,
- video informācijas iekļaušanu automātisko ierīču vadības struktūrā,
- signālu un datu matemātisko un loģisko apstrādi,
- .Net, C++, C, C# and JAVA programmēšanas valodu praksi, u.c.
Konstrukcija.
Trīs Robotino® piedziņas moduļi ir nostiprināti apaļā nerūsējošā tērauda rāmī. Perifēriāla gumijas josla ar iebūvētu sensoru aizsargā Robotino® sadursmju gadījumos.
Rāmja konstrukcija ļauj papildus nostiprināt visdažādākos sensorus.
Daudzvirzienu piedziņa nodrošina kustību uz priekšu, atpakaļ, pa diagonāli, pagriezienus un griešanos uz vietas ap Robotino® verikālo asi.
Trīs industriālas konstrukcijas līdzstrāvas motori ir aprīkoti ar ass stāvokļa optiskajiem devējiem ar izšķirtspēju 2048 punkti vienam ass apgriezienam (0,17578deg/punkts). Pārnesums 1:16 nodrošina Robotino® kustības ātrumu līdz 10 km/h.
Uz rāmja ir simetriski uzstādīti 9 analogie infrasarkanie sensori. Iespējams uzstādīt 2 analogos induktīvos sensorus un 2 optiskos sensorus.
Robotino® ir aprīkots ar krāsu vebkameru. Video attēlu iespējams pārraidīt uz datoru ar WiFi bezvadu tīkla palīdzību.
Minētie devēji ļauj Robotino® atpazīt un sekot uz grīdas izveidotai krāsu joslai vai alumīnija lentai, izmantojot jau instalētu vadības programu.
Kustības vadībai iespējams izmantot arī datora joystick vai ekrāna (on-screen) klaviatūru.
WiFi bezvadu tīkls un Robotino® View – lietotāja grafiska datoraplikācija – ļauj veidot visdažādākos uzdevumus un pārbaudīt risinājumu atbilstību tieši ar Robotino®.
Robotino® barošanu apm. 2 stundu apmērā nodrošina divi, viegli maināmi, 12V svina-želejas akumulatori.
Pilns Robotino® galveno raksturlielumu apraksts ir dots zemāk (angļu val.).
Robotino® iespējams programmēt tieši uz platformas vai izmantojot datoru un pielietojuma programmu Robotino® View 2.
RobotinoView V2.x iespējams bez maksas lejuplādēt ražotāja mājaslapā.
Robotino galvenie raksturlielumi:
Direct access
The membrane keypad integrated in the controller housing enables the Robotino® to be controlled without a WLAN.
- Start the boot procedure for the controller
- Select the language (DE, EN, ES, FR)
- Status information
- Rechargeable battery status display
- Network connection configuration
- Select autonomous demo programs
- Starting of user-specific autonomous programs
Open programming environment
At the heart of the PC 104 controller is the real-time Linux operating system, provided on a 1 GB CF card. This communicates with the new EA09 control board via a serial interface, to evaluate the sensor data and control the Robotino®’s drive units. It can communicate directly with a Linux program in the PC 104 or, via W-LAN, with Robotino® View or another external PC application:
- API with library for programming using .Net, C++, C, C# and JAVA.
- Numerous sample programs show how API is used.
- MatLab and LabView interface.
- Online update of Robotino® operating system via W-LAN.
- Download of Robotino® View 2 programs to PC 104.
- Online debugging of Robotino® View 2 programs in PC 104 on a Windows PC via W-LAN.
- Data communication with W-LAN between Robotino® View 2 application on a Windows PC and a Robotino® View 2 program in the Robotino® controller.
EA09 control board
The EA09 control board provides you with a professional introduction to control technologyfor electric motors. It replaces the standard IO board in the first version of Robotino®.
At the heart of this board is a 32-bit microcontroller, which directly generates the PWM signals for controlling four electric DC motors. For compatibility reasons, communication with the PC 104 is via the identical serial interface as in the first version of Robotino®.
An FPGA is used to read the encoder values for the motors. This enables the odometer data and any additional sensor-specific correction data to be calculated directly in the microcontroller. This results in a considerable improvement in accuracy.
Expandability
The controller PCB provides the following additional connections for subsequent expansion:
- 8 analogue inputs 0 – 10 V, 50 Hz
- 8 digital inputs and outputs (24 V, short circuit proof and overload proof)
- 2 relays for additional actuators
Microcontroller programming
The microcontroller is externally accessible and can be used directly for programming custom applications. The microcontroller firmware can be updated using the Robotino® operating system.
Control technology
The EA09 control board is fitted with an interface card, which provides four Ethernet interfaces, one of which has a direct external link. The EA09View monitor software supplied enables you to scan and visualise motor controller data (setpoints and actual values, voltage and current values) with a frequency of 1 KHz, to analyse the parameterisation of the PID motor controller in detail.
Hardware in the loop scenario
If, for example, you create a custom motor controller in MatLab, this software controller can be used for open and closed-loop control of the Robotino® motors via the Ethernet interface. The required MatLAB API for communication with the EA09 control board is supplied.
The ready-to-use package
Included in the scope of delivery:
- Robotino®
- Systainer
- Software
- Rechargeable non-spillable electric storage batteries pack
- Charging device
Extensions and accessories available on request.
The complete learning system consists of:
Mobile robot with a round stainless steel frame and three omnidirectional drive units.
- Diameter: 370 mm
- Height incl. housing: 210 mm
- Total weight: Approx. 11 kg
Frame with:
- Rubber protection strip with built-in collision-protection sensor
- 9 analogue infrared distance sensors
- Analogue inductive sensor
- 2 digital optical sensors
- Colour web camera with USB interface and jpeg compression
Control:
Embedded PC 104 plus with AMB LX800 processor (800 MHz), Ubuntu real-time Linux operating system and numerous communication interfaces:
- Ethernet, 2 x USB, 2 x RS232, parallel port and VGA connection
- Powerful wireless LAN access point with antenna to 802.11g and 802.11b. Switchable to client mode. Optional WPA2 encoding.
EA09 control board with LPC2377 32-bit microcontroller:
- Control of four DC motors
- FPGA (Xilinx Spartan3) for rapid reading of sensor data
- Ethernet interface for direct external access to the motor controller
- Two 20-pin I/O connectors for integrating additional electrical components
Robotino® View 2 software, System requirements:
- PC with Windows 2000/XP SP2/VISTA/Windows 7