Miller Robotic Interface II Manual de usuario descargar pdf (Pagina 26)

4 THE ROBOT SYTEM

Although this thesis describes the evolution of the robot system as a whole, the majority of

changes to the system, as a result of testing, were made to the interface. The original additions

to the robot, such as the second camera and lighting system were made for this research.

However, after that, even though things were added and changed on the robot, it was very rarely

done as a result of user testing.

4.1 Robot Hardware

Our system’s platform, shown in figure 6, is an iRobot ATRV-Jr. It is 77cm long, 55cm high and

64cm wide. It is a powerful four-wheeled all-terrain research platform that can turn in place due

to its differential (tank-like) steering. It came stocked with a full sonar ring (26 sonar sensors)

that encompass the full 360 degrees around the robot as well as an extremely accurate SICK

laser rangefinder that covers the front 180 degrees of the robot. A pan/tilt/zoom color camera

and a full Linux (kernel 2.2) computer running on an Intel Pentium III processor also came

standard. During the three years the robot has been in the lab, it has gone through extensive

modifications in both hardware and software.

Figure 6: The ATRV-Jr

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Miller Robotic Interface II Manual de usuario Pagina 26