Mobile Navigator with bilateral end-effector

Progress Report (2)

Team Members:

Ahmed El-Gazzar
Ahmed Nader
Louay Essam
Ibrahim Mehrez
Omar El-hamawy
Amr Mohie El-deen
Karim El-Badry
Mohamed Tawfik

22-1994
22-4441
22-1520
22-0855
22-3964
22-3231
22-4509
22-6004

How the project works:

-An arm will be fixed on a body (this body will be used in the
autonomous project), the purpose of this arm is to grab a specific object
that will be placed inside a room.
-This arm is controlled via servo motor. The servo motors maximum
angle is 180 degrees.
-The arm that will be fixed on the body is the slave arm it will move
according to the master arm motion.
-Another arm will be controlled using the user.
-The arm that will be controlled using the user will be the master arm.
-This master arm will also be controlled via servo motor.
-The signal from the master will be sent to the slave wirelessly.
-Wireless signals will be sent and received via Xbee.
-One Xbee will be fixed on the master and the other will be fixed on the
slave.
-2 controllers will be used (arduino) (raspberry pi).
-A camera will be fixed on the body to be able to monitor the
environment in front of it.
-The force signal sent from the master will be compensated according to
the forces acting on the slave.
-A camera is fixed on top of the robot.
-This camera will be used to send a wireless signal.
-The cameras role is to scan the room.

-Every scanned image will be used to detect the obstacles and the
desired object inside the room.
-The path between the required object will be calculated.
-When the robot reaches the desired object, the user will control the grip
(mounted on the robot) to carry the object through bilateral control.

The Project is divided into:

1- Hardware
2- Camera & Image acquisition
3-Image processing & Path Planning
4- Obstacle avoidance
5- Object Detection
6- Bilateral Control using disturbance
observer
7- Wireless communication

1-Hardware Design

4WD robot
The chassis has wicked spiked 120mm diameter wheels and aluminum
chassis made
from 2mm
thick plate.

2DOF Arm. It
includes 2x
1.8Kg/cm
GWS STD
micro servos
to operate the
wrist and
gripper.

The chassis
has 4mm
diameter
holes punched
every 10mm to allow easy mounting of PCBs, servos etc. All nuts,
bolts and screws are stainless steel. Brass fittings and suspension
springs are nickel plated.

The Camera will be mounted on the robotic car by a selfie stick to

easily adjust the required height for the camera to detect the required
object.

Specifications:

Aluminum chassis made from 2mm thick plate with

4mm diameter holes punched every 10mm
Two covered chassis segments to hold batteries and circuitry.
4x DC Motors (75:1 Gearboxes)
Motor Specifications Voltage: 6V (7.5V max)
No load current: 350mA

Stall current: 5.5A

Motor RPM: 10,000 +/- 5%
Gearbox ratio is 75:1
Output shaft speed is 133rpm +/- 5%
Stall torque is 8.8Kg/cm
Dimensions: 270 x 285 x 130 mm (without clamp)
Total weight (clip included): 2.15 kg
Degrees of freedom for arm: 2

2- Camera & Image acquisition

Image retrieving will be done by mobile phone by getting the photos from
the video through IP address

After getting the Image from the video recorded , Image analysis will be
done by matlab code.

Implementation:

Install the free IP Webcam app

Open the app, set the desired resolution (will impact the speed!)

Scroll to the bottom and tap on 'Start Server'

In the camera preview window, note the url at the bottom of the screen.

Open MATLAB and use this code snippet to obtain a live preview window. Note that this
uses JPG files for discrete frames, which is probably not the fastest way. The app can
stream the video and/or audio in multiple ways.

url = 'http://<ip address>/shot.jpg';

ss = imread(url);
fh = image(ss);
while(1)
ss = imread(url);
set(fh,'CData',ss);
drawnow;
end