Agile Robotics

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Agile Robotics

• Platform Integration

Mitch Leammukda, Troy Jones, Lenny Paritsky, Rob
Truax, Mofe Uku, Paul Pepin, Steve Proulx, Mike
Kerekes
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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

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Toyota 8-Series Features

• System of Active Stability (SAS)
• Internal sensors detect instability and
  forklifts 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

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Forklift Pics
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Modifications

• Several components on forklift need to be
  modified to be a computer-controlled
  drive-by-wire system
• Mechanical/Hydraulic (major mods)
• Steering
• Hydraulic brake
• Parking brake engagement release
• Electrical (minor mods)
• Mast degrees of freedom (DOFs)
• Accelerator
• Transmission
• Lights, alarms, etc.

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Steering
Steering shaft

• Hydrostatic steering pump transfers hydraulic
  fluid to move steer wheels
• Implement gearbox, pulley, motor/clutch driven by
  Copley Accelnet motor controller

Hydrostatic pump
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(No Transcript)
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Hydraulic Brake
Master Cylinder

• Pedal physically pushes down on master cylinder
• Implement motor and cable system driven by Copley
  Accelnet motor controller

Brake Pedal
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Hydraulic Brake (cont.)
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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

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Parking Brake (cont.)
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Mast Actuation

• Mini-Levers system
• Potentiometers control DOFs
• Lift
• Tilt
• Sideshifting
• Fork positioning
• Forklifts electronic control unit (ECU) reads
  voltages across the potentiometers and then
  controls the mast

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Mast Actuation (cont.)

• Microcontroller (uC) in between Mini-Levers 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

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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, addl
  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

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Timeline
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 self-contained
autonomous platform
Complete all modifications for autonomous
capability
End-to-end capability demonstrated
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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