Rsewiki - User contributions [en]

Fieldrobot

2013-09-11T10:22:58Z

Mlin:

This page holds information about the Fieldrobot (Markrobot in danish)

== Hardware ==
== Gearing ==
There are 3 different types of gearing which can be changed by replacing the timing belt from the planetary gear to the wheel axel.The gearing can be 1:1, 1:1.5 or 1:2 (or in absolute values: 28:28, 19:28 and 14:28).
The planetary gearbox has a gearing of 1:12.

The combination of timing belt length and teeth on the gears is:
=== Right side: ===
Gearing 19:28 timing belt length: 250 mm.

Gearing 28:28 timing belt length: 270 mm.

Gearing 14:28 timing belt length: 240 mm.
=== Left side: ===
Gearing 19:28 timing belt length: 260 mm.

Gearing 28:28 timing belt length: 280 mm.

Gearing 14:28 timing belt length: 245 mm.

==Torque needed at front wheels to turn them==

(I have mixed the danish and english notation of "," and ".". This has been done deliberately to confuse the enemy )

All measurements have been made by turning the wheel 90 degrees at minimum and the highest value is used. Maximum is on grass and needs a torque of 2 Nm

The measurements are as follows:

[[image:Blackfloorentrance.jpg|400px|center]]

Black floor in the entrance:0.4kg*0,137 m * 10 N/kg=0,55Nm

[[image:Blacrubbermatentrance.jpg|400px|center]]

On black rubber mat in the entrance:0.6kg*0,137 m * 10 N/kg=0.822Nm

[[image:Blackgrateoutdoor.jpg|400px|center]]

On grate outdoors:1.0kg*0,137 m * 10 N/kg=1.37Nm

[[image:cobblestoneoutdoor.jpg|400px|center]]

On cobblestone outdoors:1.0kg*0,137 m * 10 N/kg=1.37 Nm

[[image:grassoutdoor.jpg|400px|center]]

On grass outdoors:1.4kg*0,137 m * 10 N/kg=1,918 Nm

[[image:dirtoutdoor.jpg|400px|center]]

On dirt outdoors: 0,7 kg*0,137 m * 10 N/kg=1 Nm

Fieldrobot

2013-09-11T09:49:35Z

Mlin:

This page holds information about the Fieldrobot (Markrobot in danish)

== Hardware ==
== Gearing ==
There are 3 different types of gearing which can be changed by replacing the timing belt from the planetary gear to the wheel axel.The gearing can be 1:1, 1:1.5 or 1:2 (or in absolute values: 28:28, 19:28 and 14:28).
The planetary gearbox has a gearing of 1:12.

The combination of timing belt length and teeth on the gears is:
=== Right side: ===
Gearing 19:28 timing belt length: 250 mm.

Gearing 28:28 timing belt length: 270 mm.

Gearing 14:28 timing belt length: 240 mm.
=== Left side: ===
Gearing 19:28 timing belt length: 260 mm.

Gearing 28:28 timing belt length: 280 mm.

Gearing 14:28 timing belt length: 245 mm.

==Torque needed at front wheels to turn them==

(I have mixed the danish and english notation of "," and ".". This has been done deliberately to confuse the enemy )

Maximum is on grass and needs a torque of 2 Nm

The measurements are as follows:

[[image:Blackfloorentrance.jpg|400px|center]]

Black floor in the entrance:0.4kg*0,137 m * 10 N/kg=0,55Nm

[[image:Blacrubbermatentrance.jpg|400px|center]]

On black rubber mat in the entrance:0.6kg*0,137 m * 10 N/kg=0.822Nm

[[image:Blackgrateoutdoor.jpg|400px|center]]

On grate outdoors:1.0kg*0,137 m * 10 N/kg=1.37Nm

[[image:cobblestoneoutdoor.jpg|400px|center]]

On cobblestone outdoors:1.0kg*0,137 m * 10 N/kg=1.37 Nm

[[image:grassoutdoor.jpg|400px|center]]

On grass outdoors:1.4kg*0,137 m * 10 N/kg=1,918 Nm

[[image:dirtoutdoor.jpg|400px|center]]

On dirt outdoors: 0,7 kg*0,137 m * 10 N/kg=1 Nm

All measurements have been made by turning the wheel 90 degrees at minimum and the highest value is used.

Fieldrobot

2013-09-11T08:54:42Z

Mlin:

This page holds information about the Fieldrobot (Markrobot in danish)

== Hardware ==
== Gearing ==
There are 3 different types of gearing which can be changed by replacing the timing belt from the planetary gear to the wheel axel.The gearing can be 1:1, 1:1.5 or 1:2 (or in absolute values: 28:28, 19:28 and 14:28).
The planetary gearbox has a gearing of 1:12.

The combination of timing belt length and teeth on the gears is:
=== Right side: ===
Gearing 19:28 timing belt length: 250 mm.

Gearing 28:28 timing belt length: 270 mm.

Gearing 14:28 timing belt length: 240 mm.
=== Left side: ===
Gearing 19:28 timing belt length: 260 mm.

Gearing 28:28 timing belt length: 280 mm.

Gearing 14:28 timing belt length: 245 mm.

==Torque needed at front wheels to turn them==

Maximum is on grass and needs a torque of 2 Nm

The measurements are as follows:

[[image:Blackfloorentrance.jpg|400px|center]]

Black floor in the entrance:0.4kg*0,137 m * 10 N/kg=0,55Nm

[[image:Blacrubbermatentrance.jpg|400px|center]]

On black rubber mat in the entrance:0.6kg*0,137 m * 10 N/kg=0.822Nm

[[image:Blackgrateoutdoor.jpg|400px|center]]

On grate outdoors:1.0kg*0,137 m * 10 N/kg=1.37Nm

[[image:cobblestoneoutdoor.jpg|400px|center]]

On cobblestone outdoors:1.0kg*0,137 m * 10 N/kg=1.37 Nm

[[image:grassoutdoor.jpg|400px|center]]

On grass outdoors:1.4kg*0,137 m * 10 N/kg=1,918 Nm

[[image:dirtoutdoor.jpg|400px|center]]

On dirt outdoors: 0,7 kg*0,137 m * 10 N/kg=1 Nm

All measurements have been made by turning the wheel 90 degrees at minimum and the highest value is used.

Fieldrobot

2013-09-11T08:53:03Z

Mlin:

This page holds information about the Fieldrobot (Markrobot in danish)

== Hardware ==
== Gearing ==
There are 3 different types of gearing which can be changed by replacing the timing belt from the planetary gear to the wheel axel.The gearing can be 1:1, 1:1.5 or 1:2 (or in absolute values: 28:28, 19:28 and 14:28).
The planetary gearbox has a gearing of 1:12.

The combination of timing belt length and teeth on the gears is:
=== Right side: ===
Gearing 19:28 timing belt length: 250 mm.

Gearing 28:28 timing belt length: 270 mm.

Gearing 14:28 timing belt length: 240 mm.
=== Left side: ===
Gearing 19:28 timing belt length: 260 mm.

Gearing 28:28 timing belt length: 280 mm.

Gearing 14:28 timing belt length: 245 mm.

==Torque needed at front wheels to turn them==

Maximum is on grass and needs a torque of 2 Nm

The measurements are as follows:

[[image:Blackfloorentrance.jpg|400px|center]]

Black floor in the entrance:0.4kg*0,137 m * 10 N/kg=0,55Nm

[[image:Blacrubbermatentrance.jpg|400px|center]]

On black rubber mat in the entrance:0.6kg*0,137 m * 10 N/kg=0.822Nm

[[image:Blackgrateoutdoor.jpg|400px|center]]

On grate outdoors:1.0kg*0,137 m * 10 N/kg=1.37Nm

[[image:cobblestoneoutdoor.jpg|400px|center]]

On cobblestone outdoors:1.0kg*0,137 m * 10 N/kg=1.37 Nm

[[image:grassoutdoor.jpg|400px|center]]

On grass outdoors:1.4kg*0,137 m * 10 N/kg=1,918 Nm

[[image:dirtoutdoor.jpg|400px|center]]

On dirt outdoors: 0,7 kg*0,137 m * 10 N/kg=1 Nm

Alle målinger er lavet med en vandring på minimum 90 grader hvoraf den højeste værdi er brugt.

File:Dirtoutdoor.jpg

2013-09-11T08:44:22Z

Mlin: Field robot turning front wheels on dirt outdoors

Field robot turning front wheels on dirt outdoors

Fieldrobot

2013-09-11T08:43:49Z

Mlin:

This page holds information about the Fieldrobot (Markrobot in danish)

== Hardware ==
== Gearing ==
There are 3 different types of gearing which can be changed by replacing the timing belt from the planetary gear to the wheel axel.The gearing can be 1:1, 1:1.5 or 1:2 (or in absolute values: 28:28, 19:28 and 14:28).
The planetary gearbox has a gearing of 1:12.

The combination of timing belt length and teeth on the gears is:
=== Right side: ===
Gearing 19:28 timing belt length: 250 mm.

Gearing 28:28 timing belt length: 270 mm.

Gearing 14:28 timing belt length: 240 mm.
=== Left side: ===
Gearing 19:28 timing belt length: 260 mm.

Gearing 28:28 timing belt length: 280 mm.

Gearing 14:28 timing belt length: 245 mm.

==Torque needed at front wheels to turn them==

Maximum is on grass and needs a torque of 2 Nm

The measurements are as follows:

[[image:Blackfloorentrance.jpg|400px|center]]

Black floor in the entrance:0.4kg*0,137 m * 10 N/kg=0,55Nm

[[image:Blacrubbermatentrance.jpg|400px|center]]

På sort måtte i mellemgangen:0.6kg*0,137 m * 10 N/kg=0.822Nm

[[image:Blackgrateoutdoor.jpg|400px|center]]

På risten udenfor:1.0kg*0,137 m * 10 N/kg=1.37Nm

[[image:cobblestoneoutdoor.jpg|400px|center]]

På fliser udenfor:1.0kg*0,137 m * 10 N/kg=1.37 Nm

[[image:grassoutdoor.jpg|400px|center]]

På græs udenfor:1.4kg*0,137 m * 10 N/kg=1,918 Nm

[[image:dirtoutdoor.jpg|400px|center]]
På jord udenfor: 0,7 kg*0,137 m * 10 N/kg=1 Nm

Alle målinger er lavet med en vandring på minimum 90 grader hvoraf den højeste værdi er brugt.

File:Grassoutdoor.jpg

2013-09-11T08:42:58Z

Mlin: Field robot turning wheels on grass outdors

Field robot turning wheels on grass outdors

File:Cobblestoneoutdoor.jpg

2013-09-11T08:42:27Z

Mlin: Field robot turning front wheels on cobblestone outdors

Field robot turning front wheels on cobblestone outdors

File:Blackgrateoutdoor.jpg

2013-09-11T08:39:49Z

Mlin: File of the field robot turning front wheels on grate outdoors

File of the field robot turning front wheels on grate outdoors

File:Blacrubbermatentrance.jpg

2013-09-11T08:04:47Z

Mlin: File of the field robot turning front wheels on blackrubbermatentrance

File of the field robot turning front wheels on blackrubbermatentrance

File:Blackfloorentrance.jpg

2013-09-11T07:43:47Z

Mlin: Mlin uploaded a new version of "File:Blackfloorentrance.jpg"

File of the field robot turning front wheels on blackfloorentrance

File:Blackfloorentrance.jpg

2013-09-11T07:34:36Z

Mlin: Mlin uploaded a new version of "File:Blackfloorentrance.jpg": Reverted to version as of 07:31, 11 September 2013

File of the field robot turning front wheels on blackfloorentrance

File:Blackfloorentrance.jpg

2013-09-11T07:34:21Z

Mlin: Mlin uploaded a new version of "File:Blackfloorentrance.jpg": File of the field robot turning front wheels on blackfloorentrance

File of the field robot turning front wheels on blackfloorentrance

File:Blackfloorentrance.jpg

2013-09-11T07:31:14Z

Mlin: File of the field robot turning front wheels on blackfloorentrance

File of the field robot turning front wheels on blackfloorentrance

Fieldrobot

2013-09-02T13:47:48Z

Mlin:

This page holds information about the Fieldrobot (Markrobot in danish)

== Hardware ==
== Gearing ==
There are 3 different types of gearing which can be changed by replacing the timing belt from the planetary gear to the wheel axel.The gearing can be 1:1, 1:1.5 or 1:2 (or in absolute values: 28:28, 19:28 and 14:28).
The planetary gearbox has a gearing of 1:12.

The combination of timing belt length and teeth on the gears is:
=== Right side: ===
Gearing 19:28 timing belt length: 250 mm.

Gearing 28:28 timing belt length: 270 mm.

Gearing 14:28 timing belt length: 240 mm.
=== Left side: ===
Gearing 19:28 timing belt length: 260 mm.

Gearing 28:28 timing belt length: 280 mm.

Gearing 14:28 timing belt length: 245 mm.

==Torque needed at front wheels to turn them==
Will be translated to english tomorrow

Det maximale målte moment er på små 2 Nm og det er målt på græs.

målingerne er som følger:

På sort gulv i mellemgangen:0.4kg*0,137 m * 10 N/kg=0,55Nm

På sort måtte i mellemgangen:0.6kg*0,137 m * 10 N/kg=0.822Nm

På risten udenfor:1.0kg*0,137 m * 10 N/kg=1.37Nm

På fliser udenfor:1.0kg*0,137 m * 10 N/kg=1.37 Nm

På græs udenfor:1.4kg*0,137 m * 10 N/kg=1,918 Nm

På jord udenfor: 0,7 kg*0,137 m * 10 N/kg=1 Nm

Alle målinger er lavet med en vandring på minimum 90 grader hvoraf den højeste værdi er brugt.

Machine shop in 326

2013-07-15T12:14:05Z

Mlin:

==Machine shop tutorials (In danish)==
Please do not move the videos to a public accessible place.

We have promised the teacher that they will only be viewable by the staff.

=Milling video:=

O:\aut\machine-shop\video-2013-06-14-12-04-01.mp4

=Lathe video :=

O:\aut\machine-shop\video-2013-06-14-11-09-09.mp4

Machine shop in 326

2013-07-09T06:00:01Z

Mlin: Created page with "==Machine shop tutorials (In danish)== =Milling video:= O:\aut\machine-shop\video-2013-06-14-12-04-01.mp4 =Lathe video := O:\aut\machine-shop\video-2013-06-14-11-09-09.mp4"

==Machine shop tutorials (In danish)==

=Milling video:=

O:\aut\machine-shop\video-2013-06-14-12-04-01.mp4

=Lathe video :=

O:\aut\machine-shop\video-2013-06-14-11-09-09.mp4

Main Page

2013-07-09T05:58:56Z

Mlin: /* Demonstrations */

Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issued related to robotics research.

= Mobotware =

(Mobile Robot software)

AURS [[AU Robot Servers]] (camera, laser scanner, other servers and plugins)

[[RHD]] Robot Hardware Daemon

MRC - see SMR below

[[Version and download]]

= Robots =

[[List of SMRs]] (List of SMRs)

[[SMR]] (Small Mobile Robot)

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)

[[Claas axion]] (Semi-autonomous heavy tractor)

[[hexakopter]] (notes for six-rotor helicopter)

[[UR5]] (Universal Robot Arm)

[[Fieldrobot]] (Fieldrobot)

= Linux system considerations =

[[Switchtool]] - Shift to Mobotware (development) branch on the robots

[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

[[Naming networkinterfaces using udev]]

[[Setting permissions for various devices using udev]]

[[Ubuntu 32-bit or 64-bit]]

[[Authenticating Linux clients against MS Active Directory]]

====Older pages====

[[Slackware OpenCV package install]]

[[Slackware packages in robot image]]

= Controllab =

[[Platform list]] (List of computers used for various control set-ups)

[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)

[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

====installation====

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]] - to repair robot boot disk image

[[Install on (K)UBUNTU]] - for test and development on PC or laptop

[[Install GUI-less UBUNTU]] - new boot disk image for robots

[[Install on raspberry]] - install RHD and MRC on raspbian

[[Robot GUI (MARG)]]

[[Remote Development of Mobotware Using Eclipse]]

[[Set hostnames from dhcp-server with dhclient on *buntu systems]]

====utility pages====

[[Convert a .tex document to openoffice]]

[[Access DTU campus network using VPN from Linux]]

[[disable display manager on boot]] (and thereby the graphic user interface)

How to make a animation from separate images, see [[MMR]]

====older pages====

[[Transition to version 2011]] - notes

[[RoboCup]] - bl.a. scoreboard

[[Demo of stereo camera]]

[[AU software license considerations]]

= Demonstrations =

[[PLC controlled traffic light]]

[[Machine shop in 326]]

Fieldrobot

2013-07-08T08:04:45Z

Mlin:

Fieldrobot

2013-07-08T08:04:21Z

Mlin:

This page holds information about the Fieldrobot (Markrobot in danish)

== Hardware ==
== Gearing ==
There is 3 different types of gearing which can be changed by replacing the timing belt from the planetary gear to the wheel axel.The gearing can be 1:1, 1:1.5 or 1:2 (or in absolute values: 28:28, 19:28 and 14:28).
The planetary gearbox has a gearing of 1:12.

The combination of timing belt length and teeth on the gears is:
=== Right side: ===
Gearing 19:28 timing belt length: 250 mm.

Gearing 28:28 timing belt length: 270 mm.

Gearing 14:28 timing belt length: 240 mm.
=== Left side: ===
Gearing 19:28 timing belt length: 260 mm.

Gearing 28:28 timing belt length: 280 mm.

Gearing 14:28 timing belt length: 245 mm.

Fieldrobot

2013-07-08T08:01:51Z

Mlin:

This page holds information about the Fieldrobot (Markrobot in danish)

== Hardware ==
== Gearing ==
There is 3 different types of gearing which can be changed by replacing the timing belt from the planetary gear to the wheel axel.The gearing can be 1:1, 1:1.5 or 1:2 (or in absolute values: 28:28, 19:28 and 14:28).
The planetary gearbox has a gearing of 1:12.

The combination of timing belt length and teeth on the gears is:
=== Right side: ===
19:28 timing belt length: 250 mm.

28:28 timing belt length: 270 mm.

14:28 timing belt length: 240 mm.
=== Left side: ===
19:28 timing belt length: 260 mm.

28:28 timing belt length: 280 mm.

14:28 timing belt length: 245 mm.

Fieldrobot

2013-07-04T12:23:47Z

Mlin: Created page with "This page holds information about the Fieldrobot (Markrobot in danish) == Hardware == == Gearing == There is 3 different types of gearing which can be changed by replacing th..."

This page holds information about the Fieldrobot (Markrobot in danish)

== Hardware ==
== Gearing ==
There is 3 different types of gearing which can be changed by replacing the timing belt from the planetary gear to the wheel axel.The gearing can be 1:1, 1:1.5 or 1:2 (or in absolute values: 28:28, 19:28 and 14:28).
The planetary gearbox has a gearing of 1:12.

The combination of timing belt length and teeth on the gears is:
=== Right side: ===
19:28 timing belt length: 250 mm.
28:28 timing belt length: 270 mm.
14:28 timing belt length: 240 mm.
=== Left side: ===
19:28 timing belt length: 260 mm.
28:28 timing belt length: 280 mm.
14:28 timing belt length: 245 mm.

Main Page

2013-07-04T12:14:24Z

Mlin: /* Robots */

Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issued related to robotics research.

= Mobotware =

(Mobile Robot software)

AURS [[AU Robot Servers]] (camera, laser scanner, other servers and plugins)

[[RHD]] Robot Hardware Daemon

MRC - see SMR below

[[Version and download]]

= Robots =

[[List of SMRs]] (List of SMRs)

[[SMR]] (Small Mobile Robot)

[[MMR]] (Medium Mobile Robot)

[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)

[[Claas axion]] (Semi-autonomous heavy tractor)

[[hexakopter]] (notes for six-rotor helicopter)

[[UR5]] (Universal Robot Arm)

[[Fieldrobot]] (Fieldrobot)

= Linux system considerations =

[[Switchtool]] - Shift to Mobotware (development) branch on the robots

[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

[[Naming networkinterfaces using udev]]

[[Setting permissions for various devices using udev]]

[[Ubuntu 32-bit or 64-bit]]

====Older pages====

[[Slackware OpenCV package install]]

[[Slackware packages in robot image]]

= Controllab =

[[Platform list]] (List of computers used for various control set-ups)

[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)

[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)

= How-to documentation =

====installation====

[[NTP howto]] time-sync 2 computers

Using the [[RSE SVN]] repository

[[Flash disk cloning]] - to repair robot boot disk image

[[Install on (K)UBUNTU]] - for test and development on PC or laptop

[[Install GUI-less UBUNTU]] - new boot disk image for robots

[[Install on raspberry]] - install RHD and MRC on raspbian

[[Robot GUI (MARG)]]

[[Remote Development of Mobotware Using Eclipse]]

[[Set hostnames from dhcp-server with dhclient on *buntu systems]]

====utility pages====

[[Convert a .tex document to openoffice]]

[[Access DTU campus network using VPN from Linux]]

[[disable display manager on boot]] (and thereby the graphic user interface)

How to make a animation from separate images, see [[MMR]]

====older pages====

[[Transition to version 2011]] - notes

[[RoboCup]] - bl.a. scoreboard

[[Demo of stereo camera]]

[[AU software license considerations]]

= Demonstrations =

[[PLC controlled traffic light]]