Retrofitted Robot Workcell
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The retrofitted robot workcell comprises of Unimation's Puma 560 and IBM's
7575 robotic manipulators and a conveyor system.
The robotic systems were retrofitted to comply with open architecture
requirements.
Initially, the retrofitted robot controller consisted of a Delta Tau Data
System's Programmable Multi-Axis Controller (PMAC) board seated in a
VMEbus computer, a Motorola MVME167, and coordinated by Ch running under
the LynxOS real-time operating system from Lynx Real-Time Systems.
The robotic cell has since been updated and is now controlled utilizes two
Delta Tau Data System's Turbo PMAC2 PCI controllers.
The Puma 560 is a widely used general-purpose six degrees of freedom
manipulator.
The IBM 7575 is a scara-type robot manipulator with four degrees which are
popular in automated chip manufacturing.
The robot workcell is controlled using the Ch Robot package, an open source middleware for the collaborative control of a robot workcell under the under the robot programming environment Ch. The middleware provides higher level programming of an automation cell in an environment that supports easy integration of mechantronic devices with the ability to interface with low level device drivers. |
The robot workcell simulating a automation process. Check out http://www.mobilec.org/apps/robots for video of the workcell in action. |
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iRobot Create with a Gumstix Controller
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The iRobot Create is a hobbyist robot based on the Roomba platform
manufactured by iRobot and explicitly designed for robotics
development.
The Create provides a 25 pin port for direct interface with the on-board
microcontroller.
Due to the limitations of resources on the on-board controller,
additional computation is added and connected to the available 25 pin
port interface.
The Create is controlled using a Gumstix tinycomputer using an
accompanying Robostix module.
The Ch Create package was developed based on the iRobot Create open interface specifications. |
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Khepera III Mobile Robot
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The Khepera III mobile robot has a differential drive system for
locomotion and includes 9 infrared sensors (IR) for object detection
and 5 ultrasonic sensors for long range object detection.
The Khepera III mobile robot is equipped with the KoreBot board, an ARM
based embedded computer.
The KoreBot board has 64 Mbytes of RAM and runs an embedded Linux
operating system.
Through the KoreBot board, the Khepera III mobile robot is also able to
host a standard CompactFlash extension card supporting Wi-Fi, Bluetooth,
or extra storage space.
The Khepera III mobile robot is controlled using the Ch Korebot package, a Ch binding to the K-Team KoreBot C library. |
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LEGO Mindstorms NXT
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The LEGO Mindstorms NXT is one of the lines of Lego sets combined with
programmable bricks with electric motors, sensors, and Lego pieces.
The system is teleoperated over Bluetooth from a host system.
The LEGO Mindstorms NXT is controlled using the Ch Mindstorms package. |
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