Projeto Roomba

Components:

• iRobot Create
• Hokuyo URG Ranger
• Webcam
• AX-12 SmartArm
• Battery

Main article: Arm

A robotic manipulator will be on top of each roomba, attached to an acrylic resin platform. The manipulator will be a CrustCrawler AX-12 Smart Arm, sold by CrustCrawler, with three degrees of freedom plus two in the gripper, controlled by seven Robotis AX-12+ servo motors.

The manipulator's specifications can be found at the CrustCrawler website.

Main article: Powering and Electrical Design

The project’s components are not going to have the same powering system.

• The arms are going to be powered by Ni-MH batteries
• The hokuyo is going to be powered by the netbook’s battery
• The roomba is self-powered by a 3000 mAh 14.4 v NiMH battery.

Main article: A study on batteries

This section shows some important information concerning batteries. Such as: behaviour at high temperatures,voltage effects,depth of discharge and etc.

Main article: Software

Main article: StarGaze

The Silvver software will be used in a branch of the project called StarGaze. Inspired by the NorthStar® localization system by Evolution Robotics, it is a library that enables the robot, with a webcam attached to its body facing up, to locate itself reading the position from several markers in the ceiling.