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Welcome to the wiki pages of the Robot Systems Engineering (RSE) group in Automation and Control at DTU Electrical Engineering. | |||
These pages will contain updated information on RSE projects and other | These pages will contain updated information on RSE projects and other issues related to robotics research. | ||
= | = Facilities = | ||
* [[ASTA|Autonomous System Testing Arena (ASTA)]] | |||
* [[ASTA motion capture|Motion capture (Optitrack)]] | |||
* [[uASTA|μASTA]] | |||
* [[Lipo Safety | Lipo safety]] | |||
* [[Workshop]] | |||
= Robots = | |||
[[SMR]] (Small Mobile Robot) | |||
[[UR5]] (Universal Robot UR5 Arm) | |||
[[UR10]] (Universal Robot UR10 Arm) | |||
[[Fieldrobot]] (Fieldrobot) | |||
[[iRobot ATRV-Jr]] | |||
[[TerrainHopper]] | |||
[[regbot | Regbot]] (small robot intended as control-1 exercise) | |||
[[Basebot]] is the base version of Regbot for digital control exercises. | |||
[[robobot B | Robobot]] A small 4-wheel robot for DTU Robocup. | |||
[[SimServer]] Stage-based multi-robot simulator | |||
[[Fejemis]] autonomous cleaning | |||
[[Capra]] P5 | |||
[[Scorpi]] crane robot. | |||
=== Other projects=== | |||
[[Drone control]] drone base control | |||
[[Claas axion]] (Semi-autonomous heavy tractor) | |||
[[Labyrinth]] (Labyrinth game) | |||
[[DTU running path dataset]] | |||
[[Mini40 force/torque sensor]] | |||
[[ | [[Robotiq gripper]] | ||
[[ | [[Visual Tracking on Pixhawk]] (Position estimation of Pixhawk flight controller with external camera) | ||
[[ | [[3D localization]] based on sensor network | ||
<!-- [[Magnetic Navigation]] sensor --> | |||
<!-- [[robocup]] --> | |||
[[inspection robot]] (4/6-legged robot) | |||
<!-- [[3D printer]] Zortrax M300 --> | |||
= Mobotware = | |||
(Mobile Robot software) | |||
[[ | * [[AU Robot Servers]] (AURS) includes servers for soft real-time processing, e.g.: camera and laser scanner processing. | ||
[[ | * [[RHD]] (Robot Hardware Daemon) is the hardware abstraction layer, with interface to real-time sensors and actuators. | ||
* MRC - see SMR below - is the real-time movement control (and mission control using the SMR-CL language) | |||
[[ | [[Version and download]] | ||
[[ | [[Automated test setup]] | ||
= | = Linux system considerations = | ||
[[Switchtool]] - Shift | [[Switchtool]] - Shift Mobotware version - earlier, newer or the one locally on the robots | ||
[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices) | [[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices) | ||
[[Naming networkinterfaces using udev]] | [[Naming networkinterfaces using udev]] | ||
[[Setting permissions for various devices using udev]] | |||
[[Authenticating Linux clients against MS Active Directory]] | |||
[[Using GDB for coredump]] | |||
====Older pages==== | |||
[[flexbot]] design work to get a flexible stair climbing robot | |||
[[Ubuntu 32-bit or 64-bit]] | |||
[[Slackware OpenCV package install]] | [[Slackware OpenCV package install]] | ||
[[ | [[Slackware packages in robot image]] | ||
[[MMR]] (Medium Mobile Robot) | |||
[[HAKO]] (KU Life tractor, now in Hohenheim University Germany) | |||
[[ | [[hexakopter]] (notes for six-rotor helicopter including the pixhawk autopilot) | ||
= Controllab = | = Controllab = | ||
| Line 51: | Line 118: | ||
[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation) | [[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation) | ||
[http:// | [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 = | = How-to documentation = | ||
====installation==== | |||
[[NTP howto]] time-sync 2 computers | [[NTP howto]] time-sync 2 computers | ||
| Line 63: | Line 132: | ||
[[Install on (K)UBUNTU]] - for test and development on PC or laptop | [[Install on (K)UBUNTU]] - for test and development on PC or laptop | ||
[[Install | [[Install on raspberry]] - install Mobotware on raspbian (NOOBS) or a Debian based Linux on Beagle-bone. | ||
[[ | [[Install Universal Robots simulator on lab PC]] | ||
[[Remote Development of Mobotware Using Eclipse]] | [[Remote Development of Mobotware Using Eclipse]] | ||
[[Set hostnames from dhcp-server with dhclient on *buntu systems]] | |||
[[Notes on compiling augclient]] - GUI interface for Mobotware used fx. in AGCO project | |||
====utility pages==== | ====utility pages==== | ||
| Line 76: | Line 149: | ||
[[disable display manager on boot]] (and thereby the graphic user interface) | [[disable display manager on boot]] (and thereby the graphic user interface) | ||
[[How to make a animation from separate images]] | |||
[[Citrix access to DTU files and Windows Apps]] (Using Citrix Receiver, preferred way from 2015+) | |||
[[Latex]] where to put document class files in ubuntu installation | |||
[[file export]] testpage for export of files | |||
====older pages==== | ====older pages==== | ||
[[ | [[RoboCup]] - bl.a. scoreboard - not maintained | ||
[[ | [[AU software license considerations]] | ||
[[ | [[Robot GUI (MARG)]] - (no longer maintained) | ||
[[ | [[Install GUI-less UBUNTU]] - new boot disk image for robots | ||
= Demonstrations = | = Demonstrations = | ||
[[PLC controlled traffic light]] | [[PLC controlled traffic light]] | ||
[[Machine shop in 326]] | |||
[[Inverted pendulum]] | |||
Latest revision as of 09:48, 11 July 2024
Welcome to the wiki pages of the Robot Systems Engineering (RSE) group in Automation and Control at DTU Electrical Engineering.
These pages will contain updated information on RSE projects and other issues related to robotics research.
Facilities
Robots
SMR (Small Mobile Robot)
UR5 (Universal Robot UR5 Arm)
UR10 (Universal Robot UR10 Arm)
Fieldrobot (Fieldrobot)
Regbot (small robot intended as control-1 exercise)
Basebot is the base version of Regbot for digital control exercises.
Robobot A small 4-wheel robot for DTU Robocup.
SimServer Stage-based multi-robot simulator
Fejemis autonomous cleaning
Capra P5
Scorpi crane robot.
Other projects
Drone control drone base control
Claas axion (Semi-autonomous heavy tractor)
Labyrinth (Labyrinth game)
Visual Tracking on Pixhawk (Position estimation of Pixhawk flight controller with external camera)
3D localization based on sensor network
inspection robot (4/6-legged robot)
Mobotware
(Mobile Robot software)
- AU Robot Servers (AURS) includes servers for soft real-time processing, e.g.: camera and laser scanner processing.
- RHD (Robot Hardware Daemon) is the hardware abstraction layer, with interface to real-time sensors and actuators.
- MRC - see SMR below - is the real-time movement control (and mission control using the SMR-CL language)
Linux system considerations
Switchtool - Shift Mobotware version - earlier, newer or the one locally 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
Authenticating Linux clients against MS Active Directory
Older pages
flexbot design work to get a flexible stair climbing robot
Slackware OpenCV package install
Slackware packages in robot image
MMR (Medium Mobile Robot)
HAKO (KU Life tractor, now in Hohenheim University Germany)
hexakopter (notes for six-rotor helicopter including the pixhawk autopilot)
Controllab
Platform list (List of computers used for various control set-ups)
Realtime testing (Description of small test procedures to verify RTAI realtime operation)
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 on raspberry - install Mobotware on raspbian (NOOBS) or a Debian based Linux on Beagle-bone.
Install Universal Robots simulator on lab PC
Remote Development of Mobotware Using Eclipse
Set hostnames from dhcp-server with dhclient on *buntu systems
Notes on compiling augclient - GUI interface for Mobotware used fx. in AGCO project
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
Citrix access to DTU files and Windows Apps (Using Citrix Receiver, preferred way from 2015+)
Latex where to put document class files in ubuntu installation
file export testpage for export of files
older pages
RoboCup - bl.a. scoreboard - not maintained
AU software license considerations
Robot GUI (MARG) - (no longer maintained)
Install GUI-less UBUNTU - new boot disk image for robots
