Agv mobile robot
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This document discusses an automatic guided vehicle (AGV) mobile robot that uses differential drive kinematics with omnidirectional motors on an omni base. It has a DC motor, encoder, and IR sharp sensor for distance measurement. The robot controller uses incremental encoders to determine position and direction of rotation. The document also mentions a haki robot with a cylindrical arm, cylindrical joint, and rotating base, as well as an AGV robot used in world skills competitions that has a pneumatic system with a suction cap and venturi block.
Agv mobile robot
- 1. AGV MOBILE ROBOT (AUTOMATIC GUIDED VEHICLE) AmirhoseinAtaei
- 2. 2 wheel Differential Robot
- 5. Omni base
- 6. A model of DC motor on MATLAB
- 7. A DC motor set on the chassis
- 8. Motor , encoder & IR sharp sensor(distance)
- 9. 3 wheel omni mobile robot
- 10. 10 Kinematic of omnidirectional robot
- 12. Incremental encoders Sine wave is observed due to leakage (light bleeding) around opaque patches! • Pulses from LEDS are counted to provide rotary position • Two detectors are used to determine direction (quadrature)
- 13. Incremental encoders transparent equals 5V and not transparent equals 0V. This reflects the binary value “1” and “0”. Depending on the direction of rotation an electronic counter ads or subtracts the signals while the disc is turning. 2 360 360 2 4 INC patch patch C C Consider a 500 ‘Line’ incremental encoder? For 500 line Inc. encoders, resolution = .18 (w/o gearing)
- 14. A haki robot
- 15. Cylindrical Arm
- 17. Teta rotate base
- 18. Type of arms
- 20. Agv robot with venturi
- 21. AGV Robot in world skill competition
- 22. AGV PLAN
- 23. Movie 1 (omni moving)
- 24. Movie 2 (haki…)
- 25. pneumatic system Suction cap Air storage Venturi block
- 26. Usage of this robot on future