Difference between revisions of "Talk:RunBot: a Robogame Robot"

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(Motion Control)
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The robot should cost as less as possible
The robot should cost as less as possible
[[Media:Order list.pdf|File with considerations on parts to be ordered]]

Revision as of 15:29, 6 May 2010


The robot should have:

  • a dimension of about 25cm of radius, 20 cm height
  • a speed of about 1 m/sec
  • omnidirectional movement (Kamro wheels)
  • sensors to avoid obstacles (sonars)
  • a camera that can be moved up and down (and eventually left and right)
  • wireless connection to a computer (Wi-fi)
  • Bluetooth connection
  • have power enough to move and transmit for at least 2 hours without recharging
  • Have the possibility to recharge autonomously

The robot should cost as less as possible

File with considerations on parts to be ordered


  • Select HW
 ** ST ARM HW (ask Martino Migliavacca <martino.migliavacca@gmail.com>, GUMSTIX (http://www.gumstix.org/), ARDUINO (http://www.freeduino.org/), other...)
 ** Engines (WWW.robot-Italy.com, http://www.jonathan.it/)
 ** batteries (above, or standard A, AA or AAA type)
 ** Camera (ST smart cameras, with Ethernet wired link)
 ** Sonar (already available (see ROBOWII2.0))
 ** Blue tooth and WI-FI
  • Design body (structure and appearance), sensor placement, eventual movements of the camera
  • Implement the robot
  • test the robot with a simple game (e.g. RoboWII2.0)

Processor Comparison

This is the processor comparison table, the cells without entry is left blank

Name Clock Speed Ram Storage Onboard Devices Power Consumption Price OS Source Page
1 ESOM270 PXA270@520MHz 128 MB SDRAM 32 MB FLASH PMIC USB device,Camera interface(QCI),USB host 0.8 W @ Full running Mode,100mW @ Deep Sleep mode 76 € Comes with preinstalled uboot & Linux 2.6.25 or eboot Windows CE 6.0 R2 http://www.e-consystems.com/esom270.asp
2 IGEPv2 BOARD OMAP3530@720 Mhz 512MB RAM 512MB ONENAND-FLASH Ethernet 10/100 Mb BaseT.,Wifi IEEE 802.11b/g + Bluetooth 2.0 (Integrated antenna).,1 x USB OTG,1x USB Host 145 € IGEPv2 running Ubuntu 9.04 http://www.igep-platform.com/index.php?option=com_content&view=article&id=46&Itemid=55
3 Em-x270 Intel's XScale PXA270 CPU, up to 520 MHz 128 Mbyte SDRAM 512 Mbyte Flash Disk WLAN / WiFi 802.11b/g Interface,Bluetooth interface,Slave and host USB ports, including keyboard and mouse support,100 Mbps Ethernet port 0.2 - 2 W 76 $ ce OR linux http://www.compulab.co.il/x270cm/html/x270-cm-datasheet.htm
4 S3C2440 Core Board II Samsung S3C2440A based on ARM920T, 400MHz 64MB SDRAM 64MB NAND Flash 2-ch USB Host controller / 1-ch USB Device controller (ver 1.1),Camera interface ,(Max. 4096 x 4096 pixels input support. 2048 x 2048 pixel input support for scaling) 110$ Windows CE4.2/5.0, 6.0 and Linux2.6 http://www.embedinfo.com/en/list.asp?id=64
5 Overo™ Air COM [GUM3503A] OMAP 3503 Application Processor with ARM Cortex-A8 CPU 600 MHz 256MB RAM 256MB Flash 802.11(g) and Bluetooth®,USB OTG signals, USB HS Host 199$ Linux 2.6.31 or higher OpenEmbedded http://www.gumstix.com/store/catalog/product_info.php?products_id=226
6 MX31 TurboG5 Module Freescale i.MX31 @ 532MHz 128 MB of Mobile DDR 32 MB of Flash Support for 802.11b/g embedded wireless module,One SD/MMC card slot,One USB 2.0 On-The-Go (OTG) port (H/F/L speed),One USB 2.0 host port (H/F/L speeds),One Camera Sensor Interface,One 10/100BASE-T Ethernet port Windows CE 5.0 and 6.0 Linux http://www.eurotech-inc.com/single-board-computer-imx31-com-turbog5.asp

Motion Control(Needs Update)

Motion control.JPG

Angle between V1 and X-axis is 30° Angle between V2 and X-axis is 150° Angle between V3 and X-axis is 270°

V1 = F3-F1 V2= F1-F2 V3= F2-F3

Vt= c1*V1 + c3*V3 (region 3) Vt= c1*V1 + c2*V2 (region 2) Vt= c2*V2 + c3*V3 (region 1)

If Vt is between V1 and V3 then region 3 V1 and V2 region 1 V2 and V3 region 2

The matlab code for the motion control simulation is as follows:

Media:M control.zip

This model previously developed according to the paper, but the assumption given in the paper that is " We are assuming here that the wheels cannot slip, that is, all the torque from the motors is transmitted to the robot via the floor. This is an unrealistic assumption which we discuss later." was neglected in my model, so it was previously was not correct.

The correct model is the TriskarOdometer that is used in MRT for robocup. Will be updated soon.

Motor Suggestion


no load speed: 500 rpm stall torque: 29 kg-cm ~= 0.282 Nm

maximum power output = Pmax = 26.190 rad/s * 0.141 Nm = 3.692 W occuring at W= 250 rpm and t=0.141 Nm


no load speed: 470 rpm stall torque : 7 oz ( 0.5 kg-cm ) ~= 0.049 Nm

maximum power output = Pmax = 24.619 rad/s * 0.0245 Nm = 0.603 W occuring at W=235 rpm and t = 0.0245 Nm

calculations made according to the reference paper at the link http://lancet.mit.edu/motors/motors3.html http://lancet.mit.edu/motors/motors4.html

Wheel Specification

2052-3/8X CAT-TRAK


  • Standard 2" O.D. - 3/8" Bore Double Row
  • Metric 49.2mm O.D. - 9.5mm Plain Bore.
  • Recommended max load.
    • Steel Bottom = 25 lbs. 11.3kg.
    • Plywood Surface = 15 lbs. 6.8kg.
  • 200# Test Corrugated Bottom = 10 lbs. 4.5kg.
  • Weight = 1.75 oz.
  • Synthetic rubber coated polypropylene rollers.
  • Price:$7.48.
  • Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA314



  • Standard 2" O.D. - 1/4" I.D. Bushing Double Row
  • Metric 49.2mm O.D. - 6.35mm Bushing
  • Recommended max load
    • Steel Bottom = 25 lbs. 11.3kg
    • Plywood Surface = 15 lbs. 6.8kg
  • 200# Test Corrugated Bottom = 10 lbs. 4.5kg
  • Weight = 1.75 oz
  • Synthetic rubber coated polypropylene rollers.
  • Price :$7.48
  • Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA317



  • Standard 2" O.D. - 1/2" Bore Double Row w/ Keyway
  • Metric 49.2mm O.D. - 12.7mm Bore w/ Keyway
  • Recommended max load
    • Steel Bottom = 25 lbs. 11.3kg
    • Plywood Surface = 15 lbs. 6.8kg
  • 200# Test Corrugated Bottom = 10 lbs. 4.5kg
  • Weight = 1.75 oz
  • Synthetic rubber coated polypropylene rollers.
  • Price :$7.48
  • Source: http://store.kornylak.com/ProductDetails.asp?ProductCode=FXA315