Slides Mecatro 1a

Introduction to Mechatronics
Discover robots with the Lego Mindstorms
Loc Cuvillon, Bernard Bayle

Ecole Nationale Suprieure de Physique de Strasbourg Strasbourg University
March 13, 2009
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You are free to copy, to modify, to adapt and distribute this document. Latex sources of this document should be available on the authors webpage. LEGO and Mindstorms NXT are trademarks of the LEGO Group, which does not sponsor, authorize or endorse this document.
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Lego Mindstorms Hardware
NXT Programming with NBC/NXC
Bluetooth communication
Part I Hardware and Programming under Linux
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Outline
Lego Mindstorms Hardware Overview NXT Brick Hard/Firm-ware
NXT Programming with NBC/NXC NBC/NXC basics NXC structure and statements NXC I/O API
Bluetooth communication Bluetooth Protocol Bluetooth communication with PC Bluetooth communication between NXT
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Outline
Lego Mindstorms Hardware Overview NXT Brick Hard/Firm-ware NXT Programming with NBC/NXC NBC/NXC basics NXC structure and statements NXC I/O API Bluetooth communication Bluetooth Protocol Bluetooth communication with PC Bluetooth communication between NXT
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References
NXC Programming [NXC07] J.C. Hansen, NXT Power Programming, Variant Press, 2007 [NXC] J.C Hansen, Not eXactly C Programmers Guide, http://bricxcc.sourceforge.net/nbc/ [NXCT] D. Benedettelli. , Programming LEGO NXT Robots using NXC, http://bricxcc.sourceforge.net/nbc/nxcdoc/NXC_tutorial.pdf NXT Bluetooth and USB communication [LINXT] Lego Mindstorms NXT brick in Linux via USB, http://sourceforge.net/projects/linxt/ [BLUE] J. Schultz, Lego, Bluetooth and Linux, http://www.cs.uleth.ca/ benkoczi/3720/data/NXT_Bluetooth_handout-jeremy.pdf [NXTLIBC] Lego Mindstorms NXT Bluetooth library in C, http://www.quietearth.us/nxtlibc.htm
Introduction to Mechatronics 6 / 97
References
LEGO resources and documentation [LEGO] Bluetooth Developer Kit and Hardware Developer Kit, http://mindstorms.lego.com/eng/Overview/NXTreme.aspx
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Lego Mindstorms Hardware Overview
Outline
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Lego Mindstorms Overview
NXT Inputs
NXT Outputs Servo Motors
LCD screen Buttons NXT processor
with position encoders
Touch Sensor
(contact switch)
with Bluetooth
Sound Sensor
(pressure in dB)
Ultrasonic Sensor
(distance in cm)
Light Sensor
(light intensity in %)
NXT brick
Servo outputs bluetooth indicator
B : ON, invisible B< : ON, visible B<> : ON, connected
OUT_A
OUT_B
OUT_C
USB 2.0 connector
battery level usb indicator

usb : connected, working ][ : connected, not working
NXT brick name (configurable) loudspeaker
On/Enter button Naviguation buttons Clear/Go back button
Sensor port
S1
S2
S3
S4
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NXT brick Menus

My files View (testing) Bluetooth Settings NXT Program
saved in
NXT files
Motor rotation
On/off
Delete Files
Sound files
Sound dBA
Connections
Volume
Software File (bytecode executable upload from computer)
Ultrasonic cm (LCD display distance from sensor)
Visability
NXT version (firmware version)
NXT Program Example :
Search (search and connect to bluetooth device)
= "Forward until an object detection, then turn left. Repeat"
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NXT-G (LabView)
advance graphical interface for programming NXT functional block and control ow
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Some fun NXT Projects
Rubiks Cube Solver by Daniele Benedettelli
NXTway GS by Y. Yamamoto
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Lego Mindstorms Hardware NXT Brick Hard/Firm-ware
Outline
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Hardware specication
USB 2.0 connector LB1930 & LB1836 single and double Hbridge (OUT_A and OUT_BC)
AT91SAM7S256 Amtel 32 bit ARM Processor 48MHz, 64KB RAM 256KB FLASH I2C interface with AVR proc. and digital sensor (ultrasonic)
8bit AVR CoProcessor PWM signal generator A/D converter for analogic sensor (light,sound,touch )
Bluetooth Chip class 2 10 meters range

S1 S2 S3 S4
RS485 UART high speed communication line on Port S4 (for future use)
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Hardware specication
I2C: Inter-Integrated Communication need 3 lines (data,clock,ground) UART: Universal Asynchronous Receiver Transmitter (serial line/port) Note: -each sensor port (S1-4) can be used with digital or analog sensor. -6 wires by port: 3 for I2C + 3 for analog signals
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NXT Firmware
Boot code/loader initialization of the hardware load the rmware
Running executables RAM 64K
Firmware : a basic operating system multi-thread (thread: light task) provides an API for I/O (displays the menus)
LEGO firmware
Files (sound, .rxe...) FLASH 256K Firmware
Executables (.rxe)
Boot Recovery (SAMBA) Memory
ROM
with CodeByte interpreter
Boot loader/boot code
interprets ByteCode executables (.rxe) rmware and les stored in FLASH memory BOOT CODE stored in RAM allow to update rmware
Processor
Software
Outline
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Lego Mindstorms Hardware NBC/NXC basics
Outline
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NBC/NXC
NBC: Next Byte Codes name of an assembly language name of an open source assembler available under MPL license produce executable code for the native LEGO rmware NXC: Not eXactly C high level programming language: C-like syntax compiler built upon nbc produce ByteCode executables (.rxe) NBC and NXC available for Linux, MAC OS, Windows custom Firmwares to replace LEGO rmwares are available : LeJOS (JAVA-VM) for Java programming
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Compilation and Execution

Compilation under linux nbc compiler available from [NXC] options of nbc available with nbc -help compilation of a source le *.nxc nbc toto.nxc -O toto.rxe Run execution toto.rxe available in Program Files folder via menus after upload start/stop via buttons
Crosscompilation process
1Source editing 2Compilation
3Upload of .rxe file USB cable
4Execution
USB Upload
Detection of the NXT brick lsusb: listing of connected USB device Bus 002 Device 004: ID 0694:0002 Lego Group via NXC need complex conguration of linux device manager (udev) upload command nbc -d -S=usb toto.rxe via LiNXT (prefered method, [LINXT]) LiNXT: Perl script with automatic search of the brick command to upload, download and get NXT information to get help linxt -h to upload a le (as root user): linxt -u toto.rxe
Lego Mindstorms Hardware NXC structure and statements
Outline
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Statements 1
comments: //This is a comment /*This is a comment*/ variables bool, byte, unsigned char, char unsigned int, short, int unsigned long, long string struct Arrays declaration of variable int i; int x=0x10; // 16 in hexadecimal int y=10; // 10 string msg=toto;
8 bit 16 bit 32bit Array of byte User dene Array of any type
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Statements 2
assignment x=y+2; x+=y; // equivalent to x=x+y; arrays (no pointers) byte myvector[2]; // 2 byte array int myarray[]; // int array (no dimension) ArrayInit(myarray,0,10); // alocation of 10 null entries myarray[0]= 15; conditions = equal != not equal true false Expr && || True if Expr!=0 logical AND between conditions logical OR between conditions
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Control structures
if, if . . . else if (x==1) {x=2; z=3;} else y=4; for for (i=1; i<10; i++) { ;}
while while (x<10) { x++ ; // something needed !! } do.. while do { x++ ;} while (x<10)
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Control structures
switch switch (x) { case 1 : z=3; break; case 2 : // some code break; default: // some code break; } repeat and until control structure available but not C standard
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Program structure: Tasks

task music () { PlayTone(440,3000); } task motion () { while(true) { OnFwd(OUT_A,50); Wait(1000); } } task main () { // motion start music; //and music start motion; //in parallel } // execution API precedes(task1,task2,..); launch the task after end of main start task1 or StartTask(task1) ; StopAllTasks();
multithreading in NXT =concurrent execution of tasks number of task and function must be < 256 at least an init task called main needed
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Program structure: Functions
parameter passed by value return for non-void function void foo (int x) { x++; } task main { int y=1; foo(y); //y still equal to 1 }
parameter passed by reference void foo (int &x) { x++; } // !!
task main { int y=1; foo(y); //y now equal to 2 foo(2); // ERROR (one-variable) }
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Preprocessor
Preprocessor directive include les #include foo.h #include <foo.h> //error no libray path macro and dene (recommended!) #define TIMEOUT 200 //0.2 ms timeout #define NORMAL_SPEED 50
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Lego Mindstorms Hardware NXC I/O API
Outline
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some functions of the API
Timings wait(2000); // sleep for 2s x=CurrentTick(); // sys time in ms Math Functions -Cos, Sin, Abs, Acos in degree -returns 100 times the value x=cos(60); //returns 50
Strings msg=numToStr(i) // convert number in string msg=StrCat(str1,str2) // concatenation Sound Play tone (440,500); //440: frequency //500: duration
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LCD API
task main () { int i=1; TextOut(0,LCD_LINE1,"toto:"); // display toto on line 1 NumOut(20,LCD_LINE1,i); //display i on line 1 and column 20 Wait(3000); ClearScreen(); LineOut(40,40,60,60); //plot a line from (40,40) to (60,50) coordinates Wait(3000); }
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Output Control API : Servo-motor
Unregulated mode no regulation (speed can vary according to the load) reference = power in % , output selection= OUT_A, OUT_BC, OUT_ABC ... task main() { OnFwd(OUT_AC,85); //motor AC fwd at 85% of power Wait(1500); // run for 1.5 s OnRev(OUT_A,90); //motor A reverse at 90%, //C still going fwd at 85% Float(OUT_C); //motot C power off, free deceleration Wait(1500); Off(OUT_ABC); //motor ABC power off with braking }
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Regulated mode PID regulation of the motor speed (power will increase if load increases) reference = speed in % of maximal speed
task motor_status() { while(1) NUMOUT(0,LCD_LINE1,MotorActualSpeed(OUT_A)); //diplay not speed but power!! } task main() { start motor_status; OnFwdReg(OUT_A, 40, OUT_REGMODE_IDLE); //same as OnFwd, no regulation Wait(5000); OnFwdReg(OUT_A,40,OUT_REGMODE_SPEED); //speed regulation Wait(5000); Off(OUT_A); StopAllTasks(); }

Synchronized mode only for a pair of motors (OUT_xy) synchronized the rotation (useful to go in straight line for mobile robot) if one motor slow down, the other adapts last parameter: steering or turn percentage task main() { OnFwdSync(OUT_AC, Wait(2000); OnFwdSync(OUT_AC, Wait(2000); OnFwdSync(OUT_AC, //motor A speed Wait(2000); Off(OUT_AC); }
50, 0); //same as OnFwd, no regulation 40 , 50); //motor A stop 40 , 100); opposite of C
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Position-based mode regulation of rotation position in degree #define degree 180 task main() { RotateMotor(OUT_AC,56, degree); //rotation of 180 degree at 56% of power }
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Advance Output API : Write File

Position-based mode wite written in ash memory return value of the API: LDR_FILEEXIST, LDR_FILEISFULL,. . . read le API : OpenFileRead(), Read() task main() { byte handle; int result; result=CreateFile("test_write.rxe",256,handle); //file of 256 bytes if (result==LDR_SUCCESS) { int i=3; result=Write(handle,i); } CloseFile(handle); }
Input API : Sensors
Conguration of the input ports

1 2
a TYPE (TOUCH,SOUND. . . ) with SetSensorType(port,TYPE) a MODE (RAW, BOOL. . . ) with SetSensorMode(port,MODE)
TYPE Description SENSOR_TYPE_TOUCH SENSOR_TYPE_LIGHT_ACTIVE light sensor with LED on light sensor with LED off SENSOR_TYPE_LIGHT_INACTIVE sound pressure in dB SENSOR_TYPE_SOUND_DB SENSOR_TYPE_TOUCH I2C sensor (Ultrasonic) MODE Description SENSOR_MODE_RAW value between 0 < x < 1024 SENSOR_TYPE_BOOL 0 if x<512, else 1 SENSOR_TYPE_PERCENT value between 0 < x < 100 count number of transition SENSOR_TYPE_EDGE SENSOR_TYPE_TOUCH count number of level change
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Input API : Sensors
Default conguration of the input ports high-level functions with the default mode : SetSensorXXXX(port)
task main() { SetSensorType(S1,SENSOR_TYPE_TOUCH); SetSensorMode(S1,SENSOR_MODE_BOOL) SetSensorTouch(S1); //idem than the 2 previous line SetSensorSound(S3); //Sound sensor on port 3, default pourcent? SetSensorLight(S4); // port 4, default mode : percent SetSensorLowSpeed(S2); // I2C sensor (Ultrasonic,..) on port 2 }
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Input API : Sensors and rotation

Reading analog sensor: SensorValue(SX) or the equivalent macro SENSOR_X for I2C ultrasonic sensor: SensorUS(port) rotation count on servo_motor: MotorRotationCount(OUT_X)
task main() { bool cont; int dist; SetSensorTouch(S1); SetSensorLowspeed(S2); ResetRotationCount(OUT_A); while(1) { cont=SENSOR_1; // or cont=SensorValue(S1); dist=SensorUS(S2); if (cont==1) TextOut(0,LCD_LINE1,"Pressed"); else TextOut(0,LCD_LINE1,"Release"); if (MotorRotationCount(OUT_A) > 180) TextOut(0,LCD_LINE2,"Half-rotation!"); } }
One example : 3 implementation

Move forward but avoid obstacles
#define NEAR 15 //cm task main() { SetSensorLowspeed(S4); while(true){ OnFwd(OUT_AC,50); while(SensorUS(S4)>NEAR); //do nothing: wait Off(OUT_AC); OnRev(OUT_C,40); //turn //angle linked to wait time Wait(800); } }
#define NEAR 15 //cm task main(){ SetSensorLowspeed(S4); while(true){ OnFwd(OUT_AC,50); if (SensorUS(S4)<NEAR) Off(OUT_AC); OnRev(OUT_C,40); Wait(800); } } }
One example : 3 implementation

#define NEAR 15 //cm mutex motor_mutex; task obstacle_test() { while(1) {if (SensorUS(S4)<NEAR) {Acquire(motor_mutex); Off(OUT_AC); OnRev(OUT_C,40); Wait(800); Release(motor_mutex);} } } task move() { while(true){ Acquire(motor_mutex); OnFwd(OUT_AC,50); Release(motor_mutex); } } task main(){ SetSensorLowspeed(S4); start obstacle_test; start move; }
Multiple tasks running in concurrency mutex: mutual exclusion =prevent the 2 tasks to control motors simultaneously a task block on Acquire(), if another has already Acquire the mutex must wait for the Release
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Outline
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Lego Mindstorms Hardware Bluetooth Protocol
Outline
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Bluetooth
wireless protocol for electronics (phone headset), computer peripherals (WiiMote, keyboard) 2.4 GHz short-range radio frequency bandwidth : unlicensed frequency Class class 1: 100 mW 100meters class 2: 2.5 mW 10 meters (LEGO NXT) Search and Pairing search service available to nd new Bluetooth device pairing: trust communication by learning of a common passkey -input of the passkey on both device -key used to encrypt communication
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Bluetooth piconet
Master and slaves devices (max: 7 slaves) on master by piconet (slaves synchronized on his clock) slaves can not initiate a data packet transfer slaves can send a response packet right after the master one (synchronous communication) slaves can not communicate between them
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Bluetooth NXT Communication Protocol

NXT Direct Command (also for USB communication) direct command interpreted by the NXT Slave rmware and translated into functions any Bluetooth device (phone, PC, NXT,..) can send command via Bluetooth packets NXT Direct Command Telegram length of the datagram (without the 2 Length bytes) command type
0x00: Direct command, response required 0x80: Direct command, no response 0x02: Means a response datagram from slave
command code (Ex: 0x0B=GetBatteryLevel 0x03=PlayTone) parameters of the command, or return value
byte 1
Length, LSB
byte 2
Length, MSB
byte 3
Command Type
byte 4
Command
byte 5
byte 6
byt..
Parameters..................
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Lego Mindstorms Hardware Bluetooth communication with PC
Outline
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Pairing between PC and NXT -1
Get NXT Bluetooth address each Bluetooth as an unique address on 6 bytes (MAC address)
1
command hcitool : give name and Bluetooth address of available device >hcitool scan Scanning ... 00:16:53:04:B3:46 NXT
LiNXT -i , while NXT connected by USB >sudo ./linxt -i Device information: NXT name: NXT02 Bluetooth address: 00:16:53:02:f3:31
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Pairing between PC and NXT -2
Pairing under ubuntu Linux

1 2
set the key in the pop-up when using the following connect program use NXT search and Linux Bluetooth-applet:
Linux: right click on the Bluetooth-applet > preferences set a Bluetooth name for the PC dongle NXT: menu Bluetooth > search select your PC name and validate validate the default passkey Linux: a pop-up ask for the passkey, give the same
it is a one time operation, NXT now appears in Bluetooth-applet > preferences > known devices
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Programming of Direct Commands

Socket a socket is an abstraction for an inter-process communication (over network) a socket can be bind to an IP or Bluetooth address then we can read, write on the socket data between 2 process Compilation with gcc gcc -o executable_name -lm -lbluetooth source_name.c to link with Bluetooth library: -lbluetooth (math: -lm) Example: play_tone.c opening of a socket bind to NXT Bluetooth address write of the direct command PlayTone 0x03 read of the response (status)
play_tone.c
#include <stdio.h> #include <stdlib.h> #include <sys/socket.h> //socket lib #include <sys/types.h> #include <bluetooth/bluetooth.h> //bluettoh lib #include <bluetooth/rfcomm.h> #define max_message_size 59 int nxtsocket; //on declare la socket void init_bluetooth(char *btAddress) { struct sockaddr_rc addr={0};//structure du type sockaddr_rc int status; nxtsocket = socket(AF_BLUETOOTH, SOCK_STREAM, BTPROTO_RFCOMM);
addr.rc_family = AF_BLUETOOTH; addr.rc_channel = (uint8_t) 1; str2ba(btAddress, &addr.rc_bdaddr);// convertit un string en adresse
status = connect(nxtsocket, (struct sockaddr *)&addr, sizeof(addr) ) //connection }

play_tone.c
void nxt_tone(void) { /**0x06 0x00 : length =6 bytes 0x00 : direct command with response 0x03 : Playtone commande 0x5B 0x1C : parameter 1 - 7259 (200-14000Hz) 0x88 0x13 : parameter 2 - 0x1388=5000 (ms)**/ char cmd[8]={0x06, 0x00, 0x00, 0x03,0x5B ,0x1C ,0x88,0x13}; char reply[max_message_size]; write(nxtsocket, cmd, 8); //send PlayTone command read(nxtsocket, reply, 5); //read response // if if if }
check response (reply[2] != 0x02) fprintf(stderr, "not a response datagramm"); (reply[3] != 0x03) fprintf(stderr, "not the reply to play tone"); (reply[4] != 0x00) fprintf(stderr, "status not ok");
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play_tone.c
int main (void) { int blevel; char btaddress[18] = "00:16:53:02:f3:31"; //NXT adress init_bluetooth(btaddress); //open connection nxt_tone(); //direct command close(nxtsocket); return 0; }
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NXTlibC
A simple library to perform Direct Command wrap the previous code in nice function compilation: gcc -lm -lbluetooth -lnxtlibc test.c -o test API of NXTlibC : samples nxt_bluetooth_initialize() , nxt_bluetooth_done() get_battery_level(),play_tone() set_touch_sensor(), get_touch_value() message_write(), message_read() (see next section)
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play_tone.c with NXTlibC

#include <stdio.h> #include <nxtlibc.h> #define MAC "00:16:53:02:f3:31" int main (void) {int ret; // * * * * * Connection la brique * * * * * // a nxt_bluetooth_initialize(MAC); play_tone(500, 2000); // * * * * * Verification de la batterie * * * * * // ret = get_battery_level(); // *** all motor at 10% of power in regulate mode**// ret = _set_output_state(ALL_WHEEL,10, MODE_MOTORON|MODE_BRAKE|MODE_REGULATED, REGULATION_MODE_MOTOR_SPEED|REGULATION_MODE_MOTOR_SYNC, 0x00, MOTOR_RUN_STATE_RUNNING, 1000000); nxt_bluetooth_done(); return 0; }
Lego Mindstorms Hardware Bluetooth communication between NXT
Outline
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Connection between NXT

Via the Bluetooth menu search for others NXT connect it on one of the free channel 1, 2 or 3 (up to 3 slave)
Master Channel 0
Nxt Piconet
Up to 3 slaves Channel 13
NXC Bluetooth API
Via the Bluetooth menu 10 mailbox on each NXT to exchange messages if there is no read program while sending = message lost direct commands available to control the slave Example of message exchange master : check slave connection, send message to mailbox 5 on slave, read again message in mailbox 1 on slave, slave : check master connection, read its mailbox 5, put an message in its mailbox 1
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Message exchange
//MASTER #define INBOX 1 #define OUTBOX 5 sub BTCheck(int conn){ if (!BluetoothStatus(conn)==NO_ERR){ TextOut(5,LCD_LINE2,"Error"); Wait(1000); Stop(true); } } task main(){ string in,out="hello from master!"; BTCheck(1); //check slave connection TextOut(10,LCD_LINE1,"Master Test"); SendRemoteString(BT_CONN,OUTBOX,out); while (1) { ReceiveRemoteString(INBOX, true, in); TextOut(10,LCD_LINE3,in); } }
Message exchange
//SLAVE #define INBOX 5 #define OUTBOX 1 sub BTCheck(int conn){ if (!BluetoothStatus(conn)==NO_ERR){ TextOut(5,LCD_LINE2,"Error"); Wait(1000); Stop(true); } } task main(){ string in,out="thanks, master!"; BTCheck(0); //check slave connection TextOut(10,LCD_LINE1,"Slave Test"); while(1) { ReceiveRemoteString(INBOX, true, in); SendResponseString(OUTBOX,out); // Not SendRemote !! TextOut(10,LCD_LINE3,in); } }
NXC Bluetooth API
Example of Direct Command master : check slave connection, send play_tone command, wait for response status, send reset position on motor A wait for response status, send full speed command on motor A with speed regulation
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NXC Bluetooth API

//MASTER sub BTCheck(int conn){ if (!BluetoothStatus(conn)==NO_ERR){ TextOut(5,LCD_LINE2,"Error"); Wait(1000); Stop(true); } } task main(){ BTCheck(1); RemotePlayTone(BT_CONN, 4000, 100); until(BluetoothStatus(BT_CONN)==NO_ERR); Wait(1100); RemoteResetMotorPosition(BT_CONN,OUT_A,true); until(BluetoothStatus(BT_CONN)==NO_ERR); RemoteSetOutputState(BT_CONN, OUT_A, 100, OUT_MODE_MOTORON+OUT_MODE_BRAKE+OUT_MODE_REGULATED, OUT_REGMODE_SPEED, 0, OUT_RUNSTATE_RUNNING, 0) }
Mobile robots
Wheeled Mobile Robots Technology
Navigation
Part II Introduction to Mobile Robotics
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Mobile robots
Navigation
Outline
Mobile robots Classication and applications Issues
Wheeled Mobile Robots Technology Mechanical architecture Embedded system Actuators Sensors
Navigation Localization Mapping Planning Control
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Mobile robots
Navigation
Outline
Mobile robots Classication and applications Issues Wheeled Mobile Robots Technology Mechanical architecture Embedded system Actuators Sensors Navigation Localization Mapping Planning Control
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Mobile robots Classication and applications
Navigation
Outline
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Navigation
Mobile robots classication

Mobile robots Robots with a moving base, by opposition with robotic manipulators. Classication based on the locomotion type.
Wheeled robots
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Navigation

Legged robots
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Navigation

Legged robots
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Navigation
Wheeled robots, legged robots + ying robots, undersea robots.
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Navigation
Wheeled mobile robots applications

A few industrial applications
Automatic Guided Vehicles (AGV) FMC Technologies

http://www.fmcsgvs.com
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Navigation

More and more general public applications
Toys Tribot, WowWee

http://www.wowwee.com
Automatic vacuum cleaners DirtyDog, iRobot

http://www.irobot.com
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Navigation

Education and research
Khepera II , K-team
http://www.k-team.com
1 h autonomy, 1 m/s max 7x3 cm, 80g (payload<250g)
Multi-robot navigation SRI

http://www.ai.sri.com/centibots/index.html
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Navigation

A few High-Tech applications
Spatial exploration robots Sojourner mission to Mars

http://mars.jpl.nasa.gov/MPF/rover/sojourner.html
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Navigation

A few High-Tech applications
Inspection
http://crasar.csee.usf.edu
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Mobile robots Issues
Navigation
Outline
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Mobile robots Issues
Navigation
Issues
Technology Issues: mechanical architecture embedded system actuators sensors
Navigation Issues: localization mapping planning control

Mobile robots
Navigation
Outline
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Mobile robots Mechanical architecture
Navigation
Outline
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Navigation
Mobile robots mechanical architecture

A large amount of systems several types of wheels articulated platforms caution: all the architectures are not kinematically consistent
Lego Tribot: a simple differential drive mobile robot simple to build: 2 xed wheels, with 2 independent actuators differential drive locomotion nonholonomic, nonlinear. . . not so simple
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Navigation
Mobile robots mechanical architecture

A large amount of systems several types of wheels articulated platforms caution: all the architectures are not kinematically consistent
Lego Tribot: a simple differential drive mobile robot simple to build: 2 xed wheels, with 2 independent actuators differential drive locomotion nonholonomic, nonlinear. . . not so simple
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Navigation
Lego TriBot modelling

Wheels velocities (!angles convention) :
CIR l O y
vr vl
= =
r r = ( + L) r l = ( L)
and then: v = = vr + vl 2 r (r + l ) 2L
vg v vd
L r x
Differential kinematics: x y = = = v cos v sin
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Mobile robots Embedded system
Navigation
Outline
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Mobile robots Embedded system
Navigation
Lego TriBot embedded system

NXT Block The core of the robot, which enables to get measurements and to control the actuators. Refer to the rst part of the talk for more details. . .
NXT Inputs
NXT Outputs Servo Motors
LCD screen Buttons NXT processor
with position encoders
Touch Sensor
(contact switch)
with Bluetooth
Sound Sensor
(pressure in dB)
Ultrasonic Sensor
(distance in cm)
Light Sensor
(light intensity in %)
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Mobile robots Actuators
Navigation
Outline
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Navigation
LEGO Mindstorms Servo-motor
Running_modes ON: power control

open loop control reference: % of the max power
ON & REGULATED:
speed regulation use of position sensor signals closed loop with PID controller
ON & BRAKE: electronic braking

Encoder wheel and with optical sensor Gear train (1:48)
OFF: coasting (free motion)
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Navigation
LEGO Mindstorms Servo-motor driving
9V 90% duty cycle OV 9V 10% duty cycle OV
Power control PWM (Pulse Width Modulation) of a 8 kHz signal

90% duty cycle 8.1 V 20% duty cycle 1.8 V
+Vcc In1 + In2 In1
+Vcc In2
Direction and braking H-bridge with DC motors IN1 IN2 Action H L Forward L H Reverse L L Brake
M
In2 0V In1
In1
In2 0V
In1=Low, In2=High
In1=High, In2=Low
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Navigation
Electronic braking
e : back e.m.f
i
R
: motor torque
= Ki
: motor angular speed Braking
= Ke
1 2
motor motion: e = 0
e short circuit current i R
in opposition
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Mobile robots Sensors
Navigation
Outline
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Navigation
Ultrasonic Telemeters
Properties: alternate emission/reception sounds not heard by human ear (ultrasound=20kHz to 200kHz) minimal measurement distance and variable maximal frequency=f(maximal distance) different drawbacks (directivity, reectivity, ambient conditions sensitivity)
http://www.pages.drexel.edu/ kws23/tutorials/ultrasonic/ultrasonic.html
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Lego TriBot Ultrasonic Telemeter
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Mobile robots
Navigation
Outline
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Mobile robots Localization
Navigation
Outline
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Mobile robots Localization
Navigation
Dead reckoning
Odometry Computation of the conguration by velocities integration: Z t Z t Z t x(t) = x( )d, y (t) = y ( )d, (t) = ( )d.
0 0 0
The TriBot example, with a Te sampling period: x(k + 1) y (k + 1) (k + 1) = = = x(k ) + v (k )Te cos (k ) y (k ) + v (k )Te sin (k ) (k ) + (k )Te
Remark Odometry: current conguration relative to the initial conguration.
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Mobile robots Mapping
Navigation
Outline
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Mobile robots Mapping
Navigation
Environment mapping
Occupancy grid: discrete map of the environment Cell decomposition, with probability of collision from sensors measurements. The simplest case: binary grid, without ltering, trusting the odometry localization.
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Mobile robots Planning
Navigation
Outline
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Navigation
Conguration space
Denition Conguration space = set of all the accessible congurations of the robot: robot represented as a point: obstacles augmentation robot with complex shapes and kinematics: more difcult problem. Over pessimistic obstacle augmentation can close doors !
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Roadmaps
Visibility roadmap Graph capturing the environment topology from the polygonal obstacles vertices. link initial point and goal to visible vertices
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Roadmaps
Visibility roadmap Graph capturing the environment topology from the polygonal obstacles vertices. apply the same to the new vertices
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Roadmaps
Visibility roadmap Graph capturing the environment topology from the polygonal obstacles vertices. search for a path in the graph
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Mobile robots Control
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Outline
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Navigation
Path following problem

Problem Find such that d(P, C) decreases to zero, with v imposed.
y y yr x e
It can be showna that: s d e = = = v cos e a sin e , 1 dc(s) v sin e + a cos e , sc(s).
a O d
P xr r Or x
O C
a |d c(s)|<1 under some adequate initial conditions of the problem
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Path following control law

Distance equation: It comes that: = with k (d, e ) d = v sin e + a cos e v v sin e k (d, e )d, a cos e cos e
0 such that k (d, ) = 0 gives: 2 d = vak (d, e )d.
Consequence If a, v et k (d, e ) > 0: |d| decreases along any path. Restrictions No control of the orientation. Can be solve at the planning step.

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Introduction to Mechatronics

Discover robots with the Lego Mindstorms

Loc Cuvillon, Bernard Bayle

March 13, 2009

Lego Mindstorms Hardware

NXT Programming with NBC/NXC

Part I Hardware and Programming under Linux

Lego Mindstorms Hardware

NXT Programming with NBC/NXC

Lego Mindstorms Hardware Overview NXT Brick Hard/Firm-ware

Lego Mindstorms Hardware

NXT Programming with NBC/NXC

Lego Mindstorms Hardware

NXT Programming with NBC/NXC

Lego Mindstorms Hardware

NXT Programming with NBC/NXC

Lego Mindstorms Hardware Overview

NXT Programming with NBC/NXC

Lego Mindstorms Hardware Overview

NXT Programming with NBC/NXC

Lego Mindstorms Overview

LCD screen Buttons NXT processor

with position encoders

Lego Mindstorms Hardware Overview

NXT Programming with NBC/NXC

USB 2.0 connector

battery level usb indicator

NXT brick name (configurable) loudspeaker

On/Enter button Naviguation buttons Clear/Go back button

Lego Mindstorms Hardware Overview

NXT Programming with NBC/NXC

NXT brick Menus

Software File (bytecode executable upload from computer)

Ultrasonic cm (LCD display distance from sensor)

NXT version (firmware version)

NXT Program Example :

Search (search and connect to bluetooth device)

= "Forward until an object detection, then turn left. Repeat"

Lego Mindstorms Hardware Overview

NXT Programming with NBC/NXC

Lego Mindstorms Hardware Overview

NXT Programming with NBC/NXC

Some fun NXT Projects

Rubiks Cube Solver by Daniele Benedettelli

Lego Mindstorms Hardware NXT Brick Hard/Firm-ware

NXT Programming with NBC/NXC

Lego Mindstorms Hardware NXT Brick Hard/Firm-ware

NXT Programming with NBC/NXC

Bluetooth Chip class 2 10 meters range

Lego Mindstorms Hardware NXT Brick Hard/Firm-ware

NXT Programming with NBC/NXC

Lego Mindstorms Hardware NXT Brick Hard/Firm-ware

NXT Programming with NBC/NXC

Files (sound, .rxe...) FLASH 256K Firmware

Boot Recovery (SAMBA) Memory

with CodeByte interpreter

Boot loader/boot code

Lego Mindstorms Hardware

NXT Programming with NBC/NXC

Lego Mindstorms Hardware NBC/NXC basics

NXT Programming with NBC/NXC

Lego Mindstorms Hardware NBC/NXC basics

NXT Programming with NBC/NXC

Lego Mindstorms Hardware NBC/NXC basics