| Picture | Description | Date/Time |
|---|
| | Bottom - simple bent aluminum motor mounts, acrylic shaft couplers. |
Posted: May 18, 2003 (10:21 AM) |
|
| | Underside of second level - shows MRM board and motor driver board. |
Posted: May 18, 2003 (10:21 AM) |
|
| | Bottom level - showing positioning of GP2D02 distance sensors. |
Posted: May 18, 2003 (10:21 AM) |
|
| | Back of robot - LCD display, side view of main boards, two main batteries. Note that the LCD says 'kalman: 100.15' - I had the robot sitting on its face when I took this picture, so it was experiencing a tilt of about 100 degrees from horizontal. |
Posted: May 18, 2003 (10:21 AM) |
|
| | Back of robot - LCD display says 'kalman: 0.09' because the robot was horizontal when I took this picture. |
Posted: May 18, 2003 (10:21 AM) |
|
| | Another picture of the back of the robot. |
Posted: May 18, 2003 (10:21 AM) |
|
| | A complete picture of the back of the robot. |
Posted: May 18, 2003 (10:21 AM) |
|
| | Front - showing Hamamatsu UVTRON board, slitted 35mm film cap cover, and IR array candle sensors. |
Posted: May 18, 2003 (10:21 AM) |
|
| | Top - red switch on left turns balance on/off, upper left board with two buttons is a backup in case the beep sensor fails, to the right of that is the beep sensor, lower left is the speed control for te fan motor. In the middle is the battery for the fan. On the right are the two inertial sensors for balancing - the silver rectangle is the gyro, and the small silver square on the green board is the accelerometer. Also note the additional voltage regulator to the left of the accelerometer - this powers just the gyro and accelerometer so they get a clean supply. I found this was critical, as the power supplied by the MRM was noisy enough to cause problems for these sensors. |
Posted: May 18, 2003 (10:21 AM) |
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| (Click for larger pictures) |
