Datasheet

Navigation
computer
Does not
communicate
Motor Board sent
a hardstop to the
motor controllers
Robot is stopped No Serial COM
detection
Check/replace the: USB
cable, USB-to-serial
converter and
communication
optocouplers
Navigation
computer
Loses
communication
with the Motor
Board
The last drive
command will
continue to be
executed
Robot will
continue to run
with the same
actuation
Visual and loss of
communication
with the
navigation
computer
Check for communication
losses
Temperature
sensors
Do not work Overheating of
the component it
is attached to
Burning of a
component,
reduction of the
robot capabilities
Temperature
detection error
and visual
Replace the temperature
sensor
6.2. Safety Measures
To deal with some of the safety issues identified, some measurements were introduced.
In terms of platform base Mechanics the following actions were performed:
• Complete redesign of the bumper system;
• Introduction of 12 switch sensors to detect collisions in any direction;
• The bumper was increased all around the FROG platform structure;
• Lateral detection was introduced;
• Introduction of soft materials;
• There was a redesign of the laser supports.
In terms of the Robot Shell:
• Redesign of the robot shell, avoiding lower horizontal flat surfaces that can be used to climb
on to.
In terms of Electronics the following actions were performed:
• Redesign of the sonars board allowing for:
• Activate/deactivate sonars;
• Change of sonar fire method - It is possible to select the sonars that are going to be
fired at any time, and it is possible to fire all the sonars at the same time to create a
radar detection.
• Wireless console Joystick with stop button. Allows operators to stop or drive the robot using a
wireless console. When enabled, this wireless control will override any motor control
command given by the navigation computer;
• Direct communication link between the Sensor&Management Board and the Motor Board;
• Detection with 12 collision detection switches placed around the robot.
In terms of the Motor PI controllers software the following actions were performed:
• Velocity and acceleration control.
• Velocity limitation of 1m/s;
• Different acceleration/deceleration ramps for normal operation and for sonar obstacle
detection/bumper detection. For normal operation the acceleration is 1m/s
2
and in
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 40