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|Target Environment||Locomotion Method|
|Sensors / Input Devices||Actuators / Output Devices|
|video camera||3 stepper motors
2 DC motors
|Control Method||Power Source|
|CPU Type||Operating System|
|Intel 80x86||Windows 95/98/NT/2K/CE...|
|Time to build||Cost to build|
|URL for more information|
|2000PLUS is a mobile robot that can be used for a wide variety of uses.
It was mainly designed to help the handicapped people get things around the house. Part of the control for the robot is a Hewlett Packard personal computer running Microsoft Windows 98. Windows 98 was chosen for it's multiple video adapter feature. This allows the user to have a much larger desktop using multiple monitors. The image from the arm-mounted camera can be seen on one monitor and the software can be on another. The robotic arm is controlled by the Visual Basic program designed to operate the three stepper motors onboard the robot as well as two DC motors.
The drive train of the robot is controlled by a modified car remote control.
The interior electronics are used with a computer game joystick. This controls the forward/reverse, right/left movement of the robot. It uses two FM channels, one for the X-axis of the joystick and the other for the Y-axis. The signal received at the robot is combined using an elevon mixer user for remote control airplanes. This combined signal is then routed to the appropriate channel's speed controller. The speed controllers are hooked up to electric drill motors placed underneath the robot. The motors have a small wheel attached that drives the rear wheel providing movement.
The computers communicate using 2.4 GHz wireless network cards. The software PcAnywhere links the user computer to the robot computer and provides complete access to the robot computer. This allows the user to run the stepper motor control program from the robot side. Microsoft NetMeeting is used to transmit and receive the audio/video between the two computers.
Power on the robot is provided by two 12V 24 Ah. They are connected to a 350-Watt power inverter, which is used to power the computer. The batteries also provide direct power to the DC motors used for driving the robot as well as the two motors used on the arm.
Email: : DWilson@IITRI.ORG