Specifications

The Enhancement of a Multi-Terrain Mechatron for Autonomous Outdoor Applications
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2.8.1 Wireless Network Adapters ........................................................................31
2.8.2 Onboard Video Camera ..............................................................................32
2.8.3 Infrared Proximity Detectors ......................................................................33
2.8.4 Electronic Compass ....................................................................................33
2.8.5 GPS Receiver..............................................................................................34
2.8.6 Inertial Sensor .............................................................................................35
2.8.7 Motor Drivers..............................................................................................35
3. MOTOR CONTROL.........................................................................................37
3.1 INTRODUCTION .................................................................................................37
3.1.1 DC Motor Theory ...........................................................................................37
3.1.2 Possible Solutions ...........................................................................................38
3.1.3 Differential Drive Motor Control ...................................................................40
3.2 EXISTING MOTOR DRIVERS............................................................................41
3.2.1 Outdoor Mechatron.........................................................................................41
3.2.2 Co-operating Robots .......................................................................................42
3.2.3 Marvin.............................................................................................................43
3.2.4 Underwater ROV ............................................................................................43
3.3 GENERIC MOTOR DRIVERS.............................................................................43
3.3.1 Project Outline ................................................................................................44
3.3.2 Hardware Components....................................................................................45
3.3.3 Software Interface...........................................................................................47
3.3.4 Testing and Evaluation ...................................................................................48
3.3.5 Modifications ..................................................................................................50
Mounting Enclosure.............................................................................................50
PWM Frequency ..................................................................................................51
Shielding ..............................................................................................................52
Smoothing Capacitors..........................................................................................52
Ferrite Beads ........................................................................................................52
RFI Suppression Choke .......................................................................................53
3.3.6 Summary.........................................................................................................54
3.4 REVIEW OF COMMERCIAL SYSTEMS...........................................................55
3.4.1 MAXI Motor Driver Kit .................................................................................56
3.4.2 MD03 and MD22............................................................................................57
3.4.3 Tecel D200......................................................................................................58
3.4.4 MDM5253.......................................................................................................59
3.4.5 RoboteQ AX2550 ...........................................................................................60
3.5 SELECTED MODULES .......................................................................................61
3.5.1 Features...........................................................................................................62
3.5.2 Interfacing.......................................................................................................64
3.5.3 Handheld Controller........................................................................................66
3.5.4 Programming...................................................................................................66
3.5.5 Status Codes....................................................................................................68
3.5.6 Robot Mounting..............................................................................................69
3.6 Initial Interface Design ..........................................................................................70
3.7 Improved Motor Driver Interface ..........................................................................72
3.8 MICROCONTROLLER........................................................................................75
3.8.1 Selected Controller..........................................................................................76
3.8.2 Power Supply..................................................................................................77
3.8.3 Memory Configuration ...................................................................................77