Group Actions
Engagement
  • Author Author: mohanedessam
  • Date Created: Date Created
  • Views 1168 views
  • Likes 3 likes
  • Comments 4 comments
Related
Recommended

Book Carrying Robot #8 Trials and future development

mohanedessam

I described all aspects of my software and hardware design in my previous post.

 

in this post I will just show some of my trials, comment on them, and suggest possible future development.

the path is made to be a bit noisy (not so straight) to show that the robot is still able to accommodate for some path glitches.

 

the Robot was able to follow its miniaturized path correctly for some trials:

 

 

 

 


However, other trials had some errors:

 

 

 

Of course the design has a lot of possible enhancements and room for development:

1- replacing the Relay circuits with motor drivers to decrease the response time

2- using Raspberry PI PWM pin, and software PWM to control the motor speeds independently from each other, this allows modification of movement direction using the two motors differential speeds; this gives much more accuracy and much better response time compared to the ON/OFF approach. 

3- make use of MATLAB control systems to control the motors speeds and the robot direction for better response and accuracy; such as PID controllers.

4- enhance the main function code processing time by:

     1- using mex functions (C-language)

     2- vectorization of the code

     3- use more toolbox functions as opposed to written scripts