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 AVOIDANCEOBJECT SEARCHAPPROACHARM AND GRIPPER POSITIONINGGRIPPING (HARD!)PLACE OBJECT IN BAGPACKAGING

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!