The ERD800B pack is a whole pedagogical system, intended to the progressive study in robotics and servo-control.

Prep schools Engineering schools and universities Vocational training in electrical engineering Vocational training Institutes technology: electrical/mechanical eng., physical measurement Military technical schools

Robot: Autonomous Moving Intelligent

It enables the behavioral analysis of the system in many possible configurations, its characterization and the control synthesis depending on the required technical specifications. Speed and angular position control Stripe following (trajectory monitoring) Realization of an electrical shaft Trajectory calculation, following and memorization Energy savings Simulation and creation of real-time correctors (D_Scil) Manuals of practical works are supplied.

Practical works manual Ref: ERD 800 041 & 061 & 081

RA

MI:

ER

D80

0

Operating part Ref: ERD 800 000

Educational purpose

Targeted training

SERVO-SYSTEMS & PROCESS CONTROL

Hardware Part

Webcam

4 Analog Outputs

6 ultrasonic sensors

IHM via Windows CE

1 Analog Input

WIFI Antenna

Power supply

Switch

Graduated wheel

1 Potentiometer

Batteries

ERD 800 000: Operating part

Brushless geared motor Incremental encoder

2 marbles Infrared sensors (wire-guided

steering)

The RAMI is composed of a PVC metallic frame including the motors, electronic boards, engine batteries, details of the functions: Mother board ARM9 assisted by a 400.000-gate FPGA Inputs/outputs interface board and motor drivers 2 brushless geared motors 24V, 1200 RPM, reduction ratio 1/6 with 500-pt optical encoder on motor shaft, output torque

on the transmission shaft 2 N.m. Wheel diameter: 100 mm. USB webcam 3-axis compass and 3-axis accelerometer 6 ultrasonic sensors (transmitters-receivers) 2 track following sensors (optical) 802.11N Wifi link 1 24-VDC 3-Ah battery Optional (for the study of servo-control) 1 fixed workstation (speed/position servo-control, electric shaft). 1 mobile workstation for the study of stripe following, trajectory following…

Microsoft Robotics Developer Studio

Microsoft Robotics Developer Studio® (MRDS) development platform is to facilitate application development in robotics. It includes a runtime, a development environment and simulation tools.

Virtual Programming Language® is a graphical development environment including a services catalog.

• These services are graphically interacting, one service or activity being represented by a block showing inputs and outputs (events or synchronous) that are to be dragged from the catalog to the diagram

• The linkage is possible using the mouse and enables to define the signals that have to be taken into account simultaneously or not, to perform calculations on the transmitted values, ...

• VPL also enables to generate new « macro-services » code from the diagram created by the user. • In VPL, it is possible to configure the various services.

Visual Studio® is the software development tool by Microsoft. MRDS includes the free version (Express) of the development suit to enable the implementation of new services in C#, C++, JScript, Iron, Python or VB.NET. The provided tools in MRDS such as DSSNewService.exe enable to simplify the developments throughout skeleton generation of the different source code files.

• The 3D-simulation environment from MSRDS enables to simulate robots behavior in a virtual

environment based on AGEIA PhysX technology (physics engines) including both highly evolved graphical and physical models.

• On each execution node (each machine from the robotic network on which a runtime is running), it is possible to execute (directly or at distance) a control screen (via a web browser) that can diagnose the node’s state, to start or to stop one or several services, etc.

• The tools are provided with many tutorials and examples that enable a very fast handling. Many applications can be added to the software suit such as Maze Simulator that can create virtual worlds that can be explored by virtual robots, developed by an independent community, or Soccer Simulation which is football competition simulation, here developed by Microsoft**

VIRTUAL PROGRAMMING LANGUAGE

Standard configurations:

ERD800B: « RAMI » Basic package, including

Reference Designation Qty

ERD800000 “RAMI” operating unit, with Microsoft Robotics Developer Studio 1

ERD800041 Practical works manual 1

EGD000010 RJ45 UTP lead 1

EGD000026 Battery charger 1

Z.A. La Clef St Pierre - 5, rue du Groupe Manoukian 78990 ELANCOURT FranceTél. : 33 (0)1 30 66 08 88 - Télécopieur : 33 (0)1 30 66 72 20 e-mail : ge@didalab.fr - Web : www.didalab.fr

ER800C: « RAMI » Complete package, including

Reference Designation Qty

ERD800B « RAMI» Basic package 1

ERD800200 D_CCA software, for the control and acquisition, including PID, cascade, Z transform corrector 1

ERD801000 Set of 2 workstations for the study of servo-control: 1 static and 1 mobile 1

ERD 800 100: Control command software D_CCA « D_ RAMI »

ERD 800 800: D_Scil rapid prototyping in Scilab Xcos

The user can configure the system, via an ergonomic graphical interface: - selection of the system structure: speed or position open/closed. - selection of the control type, characteristic values: constant step, ramp, sine, trapezoid signals, external input, potentiometer input - selection of the corrector and its adjustments (P, PI, PID, Z corrector, fuzzy logic, tacho-generator feedback) - selection of the acquisition and recording parameters. - selection of the units (angle degree, radian, revolution)

It also enables the structured running of the experimental work: - request for the displaying of a time response of one (or several) characteristic parameter(s): position, speed, acceleration, motor current/voltage, control signal, overflow, corrector output etc… - modification of the time diagram scales (zoom in X, or Y) - recording of the running test, comparison with the previous tests - determination of the automatic control characteristic values (time constants, 5% response time, overflow amplitude etc…)

D_SCIL complete development process, from a modern development method in automation. This method is described below in 3 global successive steps, very representative of industrial development, enabling to optimize development and hardware prototype costs.

1 – Research of the model characteristics in open loop (order, time constant, gain…)

2 – Corrector synthesis in Scilab/Xcos

3 – Corrector implementation and results validation

ERD800S: « RAMI » Prototyping package including

Reference Designation Qty

ERD800C « RAMI» complete package 1

ERD800800 D_Scill: module for real-time correctors creation in SCILAB/XCOS applied to the ERD100000 (cf documentation) 1

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Updated 2015/11/23