Nxt robot gripper designs for small businesses
The first task was to "hack" the EV3 to run linux. The next step was to setup an Apache server running directly from the robot. Next task was to achieve manual remote control via IP. A daemon executes a small python program that reads the battery level from the robot and posts it periodically every 2 minutes to the web interface.
This was essential in order to know when to recharge the robot, since the battery does not last for a very long time when the motors are in use.
The final and most difficult nxt robot gripper designs for small businesses was the ability to remotely recharge the robot. The recharging required perfect alignment of the robot with the charger and grabbing the charger with the claw. Due to these problems an automatic alignment and contact method had to be devised.
Below is a video of a test. The video below shows the robot connecting to the charger. In that way when the claw grabs the charger securely the motor stops working, thus avoiding motor damage risk.
To make the process even more automated and because it was still difficult to remotely place the robot manually on top of the white pad I utilised the infrared sensor and nxt robot gripper designs for small businesses infrared remote that EV3 kit provides. The infrared remote can be used as a beacon so I wrote a little program that allows the robot to seek the beacon and go towards it. By combining the two methods the robot was able to locate the beacon within a range of two meters and then connect automatically to the charger as is shown in the video below.
In that way rather than guiding the robot remotely one needs to just drive it within 2 meters from the beacon and press the charge button at the web interface. In the video below a basic nxt robot gripper designs for small businesses avoidance algorithm is demonstrated. The autonomous driving mode is invoked when the "Patrol" button at the web interface is pressed. A python cgi program is then executed in the robot.
When the button is pressed again the program is killed and robot stops. Next steps are refinement of the autonomous drive algorithm, refinement of the line following algorithm, investigate security measures. The critical limitations that make this solution unreliable for the initial objectives are: This is a typical IoT problem, even with commercial products. Perhaps using wheels instead of treads could lower the noise. Logitech C - Robot OS: MJPG-streamer - Web server: There was no way of telling whether the claw grabbed securely the charger contacts and charging commenced successfully.
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