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The paper deals with a general purpose industrial robot controller. Due to the modules of the system is universal. It can be connected to several types of robots, even to CNC, turningmill or other machines. It was connected to an Adept Scara robot successfully,experimental results will be presented. The basic element of the system is the EMC2 open source robot controller program, which runs in a realtime linux kernel. A PCI card creates the high speed connection between the EMC2 and the machine. DC servo amplifier, digital input and output module, teach pendant, and power electronics designed for the system. The system is RT-middleware (Robotics Technology Middleware)compatible. The RT-middleware is a common robot control platform, which can easily connect different robots to the same network for a common work.

Abstract

Original scientific paperThis paper introduces an optical flow based odometry solution for indoor mobile robots. The indoor localization of mobile robots is an important issue according to the increasing mobile robot market and the needs of the industrial, service and consumer electronics sectors. The robot odometry calculated from the robot kinematics accumulates the position error caused by the wheel slip but an optical flow based measurement is independent from wheel slipping so both methods have different credibility which was considered during the sensor fusion and the development. The focus of the research was to design an embedded system with high accuracy on the possibly lowest price to serve the needs of the consumer electronics sector without the need of expensive camera and real-time embedded computer based high level robot localization solutions. The paper proposes the theoretical background, the implementation and the experimental results as well. The universal optical flow module can be implemented in any kind of indoor mobile robot to measure the position and the orientation of the robot during the motion, even in the case of a 3 DoF holonomic drive like kiwi drive. The application of omnidirectional wheels in mobile robotics requires high accurate position and orientation feedback methods contrary to differential drives.Key words: Mobile robot, Omni drive, Odometry, Optical flow, Sensor correlation Odometrija mobilnog robota zasnovana na optičkom toku podržana s više senzora i fuzijom senzora. Ovaj rad predstavlja rješenje odometrije mobilnog robota za unutrašnje prostore koje se zasniva na optičkom toku. Lokalizacija mobilnog robota u unutrašnjim prostorima je veoma važno pitanje u rastućem tržištu mobilnih robota i potreba industrijskog, uslužnog i sektora potrošačke elektronike. Odometrija robota izračunata iz kinematike robota nakuplja greške s vremenom radi sklizanja kotača, dok na odometriju izmjerenu optičkim tokom klizanje ne utječe, te obje metode imaju različit kredibilitet što je uzeto u obzir prilikom fuzije senzora i razvoja. Fokus istraži-vanja je bio dizajnirati ugradbeno sustav visoke točnosti i niske cijene koji bi zadovoljio potrebe sektora potrošačke elektronike bez potrebe za skupim kamerama i lokalizacijskim rješenjima mobilnog robota visokog nivoa namijenjenim izvo enju na ugradbenim računalima za rad u stvarnom vremenu. U radu je iznesena teorijska podloga, implementacija i eksperimentalni rezultati. Univerzalni modul za izračun optičkog toka može se implementirati na bilo kojem mobilnom robotu za unutrašnje prostore kako bi mjerio poziciju i rotaciju robota tijekom gibanja,čak i u slučaju 3 DoF holonomskog pogona kao što je kiwi pogon. Korištenje svesmjernih kotača u mobilnoj robotici zahtjeva visoku točnost pozicije i orijentacije za razliku od diferencijalnog pogona.