P09204: RP1 Motion Controller Gen 2

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Table of Contents

1 Project Overview
2 The Bottom Line
3 Administrative Information
4 Team Documents
- 4.1 Project Content
- 4.2 Published Documents

Project Overview

The goal of the Robotic Platform Family of projects is to provide a product line of off-the-shelf motor modules and platforms for diverse applications. The RP 1kg (RP1) motor module (MM) follows previous designs of 100kg and 10kg models. The full description of this system is defined in the Interface Control Document (ICD).

RP1 Gen2 Assembly

The mechanical portion of this project is covered by team P09203, link to edge website: https://edge.rit.edu/content/P09203/public/Home.

This link is for use by those assessing our progress. Please refer to the links within this document to measure our success: MSD Grading Criteria (.xls)

This document details possible improvements to the design, methods to increase efficiency of the electrical systems, advancements to the software provided functionality, and ideas to reduce the production cost of the system as a whole: Future Improvements (.doc)

The Bottom Line

Complete collection of all RP1 documentation, hardware information, and software builds:

Release-1.0-0 (.zip)

User Guide

A basic guide for using the Robotic Platform for 1kg loads.

User's Guide (.doc) (.pdf)

System Control

For all information on the system interfaces including ports, electrical characteristics, usage information, communication protocols, chassis characteristics, internal and external wiring and interconnect, and more please reference:

Interface Control Document (.docx) (.pdf)

Software Control

For all information regarding the Operational Software (firmware on-chip), the Windows/Linux client software Graphical User Interface (GUI), the PIC Operational Software, code repository location and structure, build instructions, programming instructions, Subversion Checkout procedures, and the P09204 Operational Software Application Programmers Interface (API) please reference:

Software Control Document (.docx) (.pdf)

Latest Software Builds

Operational Software (goes on the RP control system BDMicro ATmega128 microcontroller):

rp-1.0-0 (.zip) SVN 699

Client GUI Software (compatible with Windows, Linux, and Mac OS X):

rpgui-1.0-0 (.zip) SVN 702

*WARNING* Client GUI Software requires Java 6 or higher to run!

Proportional-Integral-Derivative (PID) Motor and Servo Controller Arduino Nano source code:

pid_ctrl-1.0-0 (.zip) SVN 717

Hardware Control

For all information regarding the power distribution and conditioning circuitry, the Programmable Interface Controller (PIC) circuitry, the Motor Driver circuitry, internal electrical interfaces and characteristics, detailed interconnection discussion, board fabrication layouts, and more on the electrical subsystems of the RP1 P09204 control system please reference:

Hardware Control Document (.docx) (.pdf)

Detailed schematics and user manuals for microcontrollers:

BDMicro MAVRICIIB Development Board (.pdf)

Atmel ATmega128 Microcontroller Manual (.pdf)

Arduino Nano (.pdf)

Administrative Control

For all information regarding customer requirements, customer needs, comprised materials list and billing information, and other administrative tools and documentation please reference:

Needs Assessment (.xls) (.pdf)

Design Specifications (.xls) (.pdf)

Bill of Materials (.xls) (.pdf)

Bill of Materials including Motor Modules (.xlsm)

System Testing

For all information pertaining to systems testing including unit testing of hardware and software systems and platform integration testing:

Test Plan Document (.docx) (.pdf)

Test Case Document (.xls) (.pdf)

Administrative Information

Team Member Information

Name	Discipline	Team Role
Nandini Vemuri	EE	Team Lead, Power Systems Design, System Testing
Jason Jack	CE	Technical Lead, GUI Design, Operational Software Design, Website Administrator
John Corleto	CE	PID Controller Design, Systems Integration
Emily Phillips	EE	Technical Writer, Financial Management, Systems Integration
Ryan Schmitt	CE	Wireless Systems Design, Systems Integration
Jeffrey Howe	EE	PCB Layout Design, Power Systems Design, DC Motor Driver Design

Project Information

Project Name: 2nd Generation RP1 Motion Controller
Project Number: P09204
Project Family: Modular Scalable Robotic Vehicle Platform
Track: Vehicle Systems and Technologies
Start Term: 2008-1
End Term: 2008-3
Faculty Guide: Dr. Wayne Walter (ME); wwweme@rit.edu
Faculty Consultant: Prof. George Slack (EE); gbseee@rit.edu, Dr. Dan Phillips (EE); dbpeee@rit.edu
Graduate Teaching Assistant: Todd Fernandez
Primary Customer: Dr. Ed Hensel (ME)
Customer contact information: RIT Mechanical Engineering

Project History

The RP1 Generation 2 is an improvement of the existing RP1 Generation 1 system. For detailed information on the RP1 Gen1 system and the RP10 variant, please use the links below.

P08205: RP1 Motor Module 1st Generation

P08208: RP1 Motor Module 1st Generation

P08201: RP10 Drive Platform 2nd Generation

Team Documents

Project Content

Below is a week by week record of all deliverable material for the RP1 project. All material is intended to be open for any person to view; if a link is broken or the content is restricted, please contact one of the Faculty Consultants for this project as listed in the Administrative Information section above.