PENGUIN ROBOT Motion Control Operating System PRMCOS - the Code
Title: Penguin Robot Motion Control Operating System PRMCOS
Code Name: penguin_os.bpx
Purpose: Provides an operating system for motion control
This program is a full scale operating system for Penguin Robot!
You can create your own fantastic combinations of robotic motions
for numerous Penguin bot applications.
It puts everything together for controlling the motions of
Penguin. It includes walking, homing, going forwards and
backwards, stomping, shuffling, balancing on one foot or the other,
dancing, turning right or left, toddling, moving in slow motion,
and has an open software slot for user expansion.
humanoido
Code Name: penguin_os.bpx
Purpose: Provides an operating system for motion control
This program is a full scale operating system for Penguin Robot!
You can create your own fantastic combinations of robotic motions
for numerous Penguin bot applications.
It puts everything together for controlling the motions of
Penguin. It includes walking, homing, going forwards and
backwards, stomping, shuffling, balancing on one foot or the other,
dancing, turning right or left, toddling, moving in slow motion,
and has an open software slot for user expansion.
humanoido
humanoido said...
The open code is modifiable. Develop new sequences
and new motions by following the examples in the OS. Use the drop in code,
once the motion sequence is completed, for your own software.' Penguin Robot Motion Control Operating System adds considerable ' functionality to Penguins. This includes motions of homing both ' servos, walking forwards and backwards, stomping and shuffling ' feet, balancing on both feet, dancing, right and left turns, ' kicking (i.e. a small soccer ball), toddling, and slow motion. ' Experiment is open for added on functions. ' OS FUNCTION LIST ' ---------------- ' HOME POSITIONS ' WALK FORWARD NORMAL PACE ' WALK BACKWARDS NORMAL PACE ' FEET STOMPING ' FEET SHUFFLING ' BALANCE ON LEFT FOOT ' BALANCE ON RIGHT FOOT ' DANCE ' RIGHT TURN ' LEFT TURN ' KICK A BALL ' TODDLE ' SLOW MOTION ' OPEN SOFTWARE SLOT ' Use Penuin's Motion Control Operating System to create new ' motion sequences. The OS has an open software slot for ' expansion ideas. ' The controls are Debug screen menu driven. The motion control uses ' the static balance method for the nondriven servo. With Penguins' ' exceptional balance and close tolerance machined construction, ' this technique works well. There's two dedicated motion control ' engines, one to drive Tilt and one for Stride servos. ' PRMCOS conserves battery power for extended operating times by ' shutting down servos that are not in use. Pulses are delivered ' to servos only for primary motions and period refresh when ' required. ' Calibrate your Penguin using Penguin-CenterServos.bpx as seen on ' page 6 in the Penguin robot kit manual (type in or download at ' Parallaxinc.com). Or run the servo calibration program found in ' the Penguin program suite. Place the calibrated values in the ' declarations section for CenterTilt and CenterStride, changing the ' default values from 1900 to the new values. Fine tuning servo ' positions is a prerequisite for good balance and turning ' capability.
Post Edited (humanoido) : 1/2/2008 11:12:40 AM GMT
bpx
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