2000PLUS by Dan Wilson

2000PLUS is a mobile robot that can be used for a wide variety of uses.

It was mainly designed to help the handicapped people get things around the
house. Part of the control for the robot is a Hewlett Packard personal
computer running Microsoft Windows 98. Windows 98 was chosen for it's
multiple video adapter feature. This allows the user to have a much larger
desktop using multiple monitors. The image from the arm-mounted camera can
be seen on one monitor and the software can be on another. The robotic arm
is controlled by the Visual Basic program designed to operate the three
stepper motors onboard the robot as well as two DC motors.

The drive train of the robot is controlled by a modified car remote control.

The interior electronics are used with a computer game joystick. This
controls the forward/reverse, right/left movement of the robot. It uses two
FM channels, one for the X-axis of the joystick and the other for the
Y-axis. The signal received at the robot is combined using an elevon mixer
user for remote control airplanes. This combined signal is then routed to
the appropriate channel's speed controller. The speed controllers are hooked
up to electric drill motors placed underneath the robot. The motors have a
small wheel attached that drives the rear wheel providing movement.

The computers communicate using 2.4 GHz wireless network cards. The software
PcAnywhere links the user computer to the robot computer and provides
complete access to the robot computer. This allows the user to run the
stepper motor control program from the robot side. Microsoft NetMeeting is
used to transmit and receive the audio/video between the two computers.

Power on the robot is provided by two 12V 24 Ah. They are connected to a
350-Watt power inverter, which is used to power the computer. The batteries
also provide direct power to the DC motors used for driving the robot as
well as the two motors used on the arm.

Email: : DWilson@IITRI.ORG

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