Dexter-2Dexter-2Universal RoboticUniversal RoboticResearch PlatformResearch Platform

GROUP MEMBERS: Sachitanand S. Malewar Anish Mohan Mukarram Baig Sachin Prabhu

PROJECT GUIDE: Prof. K. G. Balakrishnan

Use of universal robotic research platform

•Used in cutting edge research worldwide. •Widely used in research labs and industry.•Used for development and testing of new algorithms.•Used for rapid development in real time application.•Used in educational institutes for giving students exposure to robotics.•Built around highly up scaleable architecture. •They also provide huge numbers of functionalities for further up gradation.•Due to their universal nature robots can be programmed in any languages.

Aspects of Universal Aspects of Universal Robotic Research PlatformRobotic Research Platform

Powerful onboard computer with neural co-processorPowerful onboard computer with neural co-processor Accurate locomotionAccurate locomotion Wireless connectivity with external world Wireless connectivity with external world Efficient and accurate navigation systemEfficient and accurate navigation system Pinpoint positioning systemsPinpoint positioning systems Accurate mappers with intelligent path planning algorithmsAccurate mappers with intelligent path planning algorithms Arrays of image processing toolsArrays of image processing tools 3D vision for depth recognition3D vision for depth recognition Intelligent robot Human interaction using artificial neural Intelligent robot Human interaction using artificial neural

networksnetworks Precision robotic arm with forced feedbackPrecision robotic arm with forced feedback Array of control modesArray of control modes Onboard LCD displayOnboard LCD display

Existing optionsExisting options

Pioneer series robotsPioneer series robots

Dexter-2 Universal Robotic Dexter-2 Universal Robotic Reaserch PlatformReaserch Platform

Various Parts of Dexter-2Various Parts of Dexter-2

Dimensions of Dexter-2Dimensions of Dexter-2

Construction of the robot using Construction of the robot using multiple decksmultiple decks

Adjusting Center of Gravity of The Robot

Locomotion System

LocomotionLocomotion

Configuration Four wheel differential drive

Suspension Four wheel independent type

Shaft encoder Independent positional shaft encoder

Weight of the motor 1.24Kg.

Stall torque 153Kg/cm

Nominal torque 60Kg/cm

Wattage 25Watts

Maximum RPM 60 RPM

Wheel material Rubber coated composite material

Wheel diameter 100mm.

Horizontal thrust/motor 12Kg./motor

Total Horizontal thrust 48Kg

Maximum velocity 31cm/s

Parts of the Locomotion System

Four wheel Differential Drive

Shaft Encoder

Locomotion controlLocomotion control

S ER I A L PO R T

D I R EC TI O NC O NTR O L L ER

V EL O C I TYPR O FI L E

C O NTR O L L ER

FO UR A X I SM O TO R

C O NTR O L L ER

PO S I TI O NS ENS I NG

S H A FTENC O D ER S

M O TO R 1[ F 1 ]

M O TO R 3[ F 2 ]

M O TO R 2[ B 1 ]

M O TO R 4[ B 2 ]

R O B O T

A T M E G A 1 6 M IC R O C O N T R O LLE R

Onboard computer

Processor-Intel 2.4 GHz Hyper threading with 800MHz Front side Processor-Intel 2.4 GHz Hyper threading with 800MHz Front side busbus

Intel 865PE chipsetIntel 865PE chipset ASUS P4P 800 DELUX Mother boardASUS P4P 800 DELUX Mother board 1GB DDR RAM in Dual DDR configuration1GB DDR RAM in Dual DDR configuration North Bridge with 6.4GigaBytes/Sec 40 bit BusNorth Bridge with 6.4GigaBytes/Sec 40 bit Bus ICH5R controlled south bridge working at 700MB/SICH5R controlled south bridge working at 700MB/S Two 80 GB 7200 RPM Hard discs in RAID configurationTwo 80 GB 7200 RPM Hard discs in RAID configuration Serial ATASerial ATA Onboard IEEE 802.11b wireless LANOnboard IEEE 802.11b wireless LAN 1GB/s Giga bit LAN1GB/s Giga bit LAN Two printer ports and four serial portsTwo printer ports and four serial ports Eight USB 2.0 ports working at 450MB/sEight USB 2.0 ports working at 450MB/s Two IEEE 1394 Fire wire portsTwo IEEE 1394 Fire wire ports Five PCI slotsFive PCI slots Ai based dynamic overclockingAi based dynamic overclocking Supports composit video signalSupports composit video signal

Front Side of Onboard computer

Back Side of Onboard computer

Side View of Onboard computer

Wireless Keyboard and Mouse With TFT LCD Display

Mounting position of TFT LCD and Long Range Infrared Scanner

NavigationalNavigational systemssystems

•Dynamic ultrasound terrain mapper gives detailed terrain map of surrounding including obstacles in the path.•Infrared positioning system pinpoints robot’s position in polar coordinates•Infrared orientation system provides information about robots orientation•Infrared docking system helps robot to dock to docking station.•Infrared range finder•Gyroscopes•Accelerometers

Mounting of The Navigational Systems

Ultrasonic terrain mapperUltrasonic terrain mapper

•Type- Dynamic terrain scanning•Range- 6 Meters•Accuracy- 1 cm•Readings- 48/360 degrees•Reading speed- 0.3 sec

Mapped terrain

Video

Infrared positioning systemInfrared positioning system

•Gives robots position with 0.2 degrees in polar coordinates•Transmits robot’s position with 9Kbps 412MHz wireless link

Infrared positioning system

Infrared Orientation System

Infrared orientation system is mounted on the robotInfrared orientation system is mounted on the robot It gives orientation of the robot with respect to infrared It gives orientation of the robot with respect to infrared

positioning systempositioning system It is like infrared compassIt is like infrared compass

Infrared Orientation System

Laser Range FinderLaser Range Finder

Piezoelectric GyroscopePiezoelectric Gyroscope

Gyroscope board Piezoelectric Gyroscope

Robotic arm arm

Nine axis robotic armNine axis robotic arm Configured in Configured in

PRPPRPRRRPRPPRPRRR Best power to weight Best power to weight

ratioratio

Robotic arm

Robotic Gripper Arm Specifications

Configuration PRPPRPRRR

Number of axis 9

Max Weight that can be lifted. 1Kg

Max pressure that can be applied

1Kg/cm2

The Gripper can rotate 360 degrees using the slip-ring design of the arm.

Parallelogram Lift with resistive feed back.

Axis of Robotic arm

Axisnumber

Coordinate system

Motion in degree/distance Motor RPM

Motor torque

1 Prismatic Infinite distance 42 120 kg/cm

2 Revolute 360 degrees 42 120 kg/cm

3 Prismatic 50cm. 60 70 kg/cm

4 Prismatic 40cm 60 70 kg/cm

5 Revolute 83 degrees 60 70 kg/cm

6 Prismatic 45cm. 50 10 kg/cm

7 Revolute 360 degrees 5 18 kg/cm

8 Revolute 180 degrees 5 18 kg/cm

9 Revolute 360 degrees 5 18 kg/cm

Image processing elementsImage processing elements

•Two night vision cameras for 3D vision•One colure camera•Two USB web camera•One Lego camera•One ZISC camera•Two Pinnacle image grabbing cards•Mounted on moveable platform

STK 500 Development STK 500 Development Board For AVR Board For AVR

MicrocontrollersMicrocontrollers

ZISC Neural network boardZISC Neural network board

•Based upon zero instruction set computing•The Wizard board processes up to 1 million vectors per second •Equivalent to billion instructions / second (10 GIPS)•ZISC does not use any algorithms for programming the solution•On board 2 ZISC chips (156 parallel processors), one FPGA totaling 100,000 gates and 1 Mb of memory•Up to 1 million recognitions/second

Lower Level Image Processing

Lower Level Image Processing

Motion Detection

Laser Range Finder

Control modes of the robotControl modes of the robot

Remote controlRemote control Robot control by speechRobot control by speech Robot control by analyzing palm movementRobot control by analyzing palm movement Controlling robot via a Distributed Network in server Controlling robot via a Distributed Network in server

client environment client environment Controlling robot through internetControlling robot through internet Automated Navigation To TargetAutomated Navigation To Target Intelligent sonar navigationIntelligent sonar navigation MapperMapper Shortest path algorithmShortest path algorithm LEGO Vision command and LEGO Mind storm LEGO Vision command and LEGO Mind storm RCX 2.0RCX 2.0

Remote controlRemote control

50 channel remote control50 channel remote control Working on 412 MHzWorking on 412 MHz 8 bit security address8 bit security address 50 meters range50 meters range

Long Range Night Vision Long Range Night Vision CameraCamera

Ultra long range active night vision camera with passive image intensifier lenses

Graphical User InterfaceGraphical User Interface

Mapper GUIMapper GUI

Shortest Path AlgorithmShortest Path Algorithm

LEGO Mindstorm And LEGO LEGO Mindstorm And LEGO Vision CommandVision Command

LAN ControlLAN Control

LAN Control using LEGO Mindstorm And LEGO Vision LAN Control using LEGO Mindstorm And LEGO Vision CommandCommand