Agile Robotics Platform Integration Mitch Leammukda, Troy Jones, Lenny Paritsky, Rob Truax, Mofe Uku, Paul Pepin, Steve Proulx, Mike Kerekes Mitch Leammukda Agile Robotics Site Visit 8/8/2008 Forklift Platform Toyota 8FGU15 ◦ 3k lbs. capacity ◦ Liquid propane gas fuel ◦ Electrically-actuated mast hydraulics ◦ CANbus network ◦ Pneumatic tires ◦ Internal sensors and safety override system Mitch Leammukda Agile Robotics Site Visit 8/8/2008 Toyota 8-Series Features System of Active Stability (SAS) ◦ Internal sensors detect instability and forklift’s controllers activate appropriate functions Active Control Rear Stabilizer System Speed sensor Yaw rate sensor Swing Lock Cylinder Active Mast Function Controller System Pressure sensor Height (stage) sensor Tilt angle sensor Mitch Leammukda Agile Robotics Site Visit 8/8/2008 3 Forklift Pics Mitch Leammukda Agile Robotics Site Visit 8/8/2008 4 Modifications Several components on forklift need to be modified to be a computer-controlled driveby-wire system ◦ Mechanical/Hydraulic (major mods) Steering Hydraulic brake Parking brake – engagement & release ◦ Electrical (minor mods) Mitch Leammukda Mast degrees of freedom (DOFs) Accelerator Transmission Lights, alarms, etc. Agile Robotics Site Visit 8/8/2008 5 Steering shaft Steering Hydrostatic steering pump transfers hydraulic fluid to move steer wheels Hydrostatic pump Implement gearbox, pulley, motor/clutch driven by Copley Accelnet motor controller Mitch Leammukda Agile Robotics Site Visit 8/8/2008 6 Mitch Leammukda Agile Robotics Site Visit 8/8/2008 7 Hydraulic Brake Pedal physically pushes down on master cylinder Implement motor and cable system driven by Copley Accelnet motor controller Mitch Leammukda Master Cylinder Brake Pedal Agile Robotics Site Visit 8/8/2008 8 Hydraulic Brake (cont.) Mitch Leammukda Agile Robotics Site Visit 8/8/2008 9 Parking Brake Pedal physically pulls on cable to engage parking brake Hand lever releases brake Implement motor, clutch, and cable system to engage Implement solenoid and cable to disengage Mitch Leammukda Agile Robotics Site Visit 8/8/2008 10 Parking Brake (cont.) Mitch Leammukda Agile Robotics Site Visit 8/8/2008 11 Mast Actuation Mini-Levers system ◦ Potentiometers control DOFs Lift Tilt Sideshifting Fork positioning ◦ Forklift’s electronic control unit (ECU) reads voltages across the potentiometers and then controls the mast Mitch Leammukda Agile Robotics Site Visit 8/8/2008 12 Mast Actuation (cont.) Microcontroller (uC) in between MiniLevers and ECU ◦ uC controlled by CPU and then output voltages to control mast ◦ uC can accept output from Mini-Levers and then “relay” voltages to ECU Mitch Leammukda Agile Robotics Site Visit 8/8/2008 13 System Integration – Next Steps Controls Interface Modifications ◦ Design computer control capability of accelerator, transmission, emergency stop, on-board electronics, etc. Power Inverters ◦ Provide sufficient power to CPU, sensors, add’l motors, safety indicators, networking components Computers ◦ Process sensor data, perform planning and execution of maneuvers ◦ Shock-mounted to handle dynamic movement, bumps Sensor Mounting ◦ Allow for proper data collection of variety of sensors, pointing in different directions Mitch Leammukda Agile Robotics Site Visit 8/8/2008 Timeline apr 08 aug 08 sep 08 nov 08 jan 09 Concepts of mechanical & electrical modifications All DBW elements transferred to full-size prototype ready for software testing and data collection Additions & modifications for selfcontained autonomous platform Complete all modifications for autonomous capability End-to-end capability demonstrated Mitch Leammukda Agile Robotics Site Visit 8/8/2008 mar 09 Schedule/Milestones Sept. 30, 2008 ◦ All DBW elements transferred to full-sized prototype ready for software testing and data collection Steering, hydraulic brake, and parking brake actuation Mast, accelerator, transmission actuation Baseline set of sensors mounted and wired CANBus interface software reading vehicle data/states Nov. 30, 2008 ◦ Additions/modifications for self-contained autonomous platform Power inversion additions and wiring Controls CPU system mounted with network connections Preliminary human/autonomous handoff system Jan. 31, 2009 ◦ Complete all modifications for autonomous capability Robust safety/handoff system implemented Visible & audible annunciators functional March 31, 2009 – end of Year 1 ◦ End-to-end capability demonstrated Mitch Leammukda Agile Robotics Site Visit 8/8/2008 16