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Robot Over Construction

Robot Over Construction. Mark D. Dahl Michael van der Giet Clint Esperson. Functional Partition. Manual operation controlled by the touch display Autonomous operation Navigate through workspace Pick up bricks from storage areas Identify brick and decide were to put it

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Robot Over Construction

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  1. Robot Over Construction • Mark D. Dahl • Michael van der Giet • Clint Esperson

  2. Functional Partition • Manual operation controlled by the touch display • Autonomous operation • Navigate through workspace • Pick up bricks from storage areas • Identify brick and decide were to put it • Put bricks together and build a wall structure in build area

  3. Functional Partition (Cont.)

  4. Functional Partition (Cont.) • Actuators used • 4 Lego motors driven by JCX board • 1 geared motor driven by H-bridge IC • Sensors used • 3 Lego touch sensors • 3 Lego rotation sensors • 1 Lego light sensor

  5. Functional Partition (Cont.)

  6. Software Flow Chart

  7. Software Flow Chart (Cont.)

  8. Project Objectives • Originally, we wanted to construct a robot that would: • Be able to identify lego bricks • Use those bricks to build something • Be given a building plan and use it to find bricks it needs and build the plan

  9. Problems • Designing a claw or gripper that could handle lego bricks • Solution: handle the larger duplo bricks • Achieve 3 degrees-of-freedom arm • Solution: make the arm moveable

  10. Problems (Cont.) • Insufficient strength of lego parts for the robot • Solution: use aluminium frame for crane of robot • Insufficient sensitivity of lego sensors • Tried using a mouse as a rotation sensor, but it ended up not working • Solution: lego sensors with more gear

  11. Problems (Cont.) • Enable robot to find bricks and place to build • Solution: bounded area • Hardware issues (JSTAMP not communicating with PCs) • Solution: JTAG ribbon cable seemed to be the problem, replace them

  12. Final Project Results • A robot which can build a wall with two different sized duplo bricks • A display screen to control the robot manually or set it into autonomous mode • Javadocs and javacode can be found at our website • Http://www.cs.utah.edu/~mdahl/robotoverconstruction

  13. If We Had This to Do Over Again: • Plan a more realistic project • Our original plan was too ambitious given the time constraints and parts available • Attempt to distribute the work more evenly among team members • Although, originally it seemed to be divided up evenly

  14. If We Had This to Do Over Again: (Cont.) • Find a system that could be used for code maintenance and use it • Transferring code back and forth and making sure that we got all the changes from different versions of the same classes increased the difficulty of the project

  15. Questions???

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