ULL 2009 IEEE R5 Competition Robot - First Pickup Run

This is an early video of the robot when we first got the arms working etc. The delivery and turn table code had not been finalized so the robot just picks up a box and drops it back off in the same location.

The servo's used were HXT12K from www.hobbycity.com, very strong (10kg/cm) and cheap, less than $10.

We used the SD20 servo controller since we had 9 servo's to control and didn't want to burden the main PIC micro controller with all that overhead. The SD20 uses an I2C interface and worked quite well but you had to be careful not to send commands too fast or it might drop some of them. The documentation was somewhat poor. If I have time I'll post some info on how to interface it with a PIC on my website.

The arm's used 2 servo's each for a total of 8 servos. The 9th servo was hacked for continuous rotation and was used to turn the turn table. A high quality potentiometer was attached to the turn table gears to provide position information. Essentially it was a giant servo itself.

This video was recorded around 3/13/09

The members of the robot team are myself (Cy Brown), Carl Koenig, and Adam Hill

I'll post more info on my website at http://www.pasqualy.com

Category:

Science & Technology

Tags:

• ULL
• IEEE Region 5
• robot
• competition
• IEEE R5 2009
• robotics
• PIC
• microprocessor
• servo
• SD20 servo controller
• SD20

[avaguard]

good job first coment! ^_^