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proportional steering and speed control. This is the type of model used in building the prototype. A less-expensive R/C model may be used, but you won t have as much control when driving. Figure 9.2 is a photograph of the R/C model car. It has a spring suspension system. The suspension system can be incorporated with a rumble-and-tilt sensor system to provide a feel of the terrain. But we are getting ahead of ourselves. Purchase an R/C car that is bundled with a battery charger and rechargeable batteries. With some R/C models these items must be purchased separately.
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A little on R/C models
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Radio-controlled models have evolved into a popular hobby. There are R/C airplanes, helicopters, gliders, powerboats, submarines, cars, motorcycles, etc. Most models are suitable shells and springboards for golem-type robots. Not long ago, R/C models were exclusively gas powered. In the late 1970s, improvements in battery technology and electric motors made electric-powered vehicles a viable option. Model R/C cars are typically controlled using a two-channel transmitter/receiver. One channel controls steering and the other channel controls the throttle. Each transmitter signal is controlled by a potentiometer inside the transmitter. The steering potentiometer is often connected to a small steering wheel on the transmitter control. The throttle is usually connected to a trigger or stick.
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9.2 R/C model car used in telepresence system
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Telepresence robot
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Pulse Signal to Servo Motor 9.3 Pulse width used to control a servo motor
An encoder chip in the transmitter modulates the pulse width on the transmitter s carrier signal. The pulse width is based on the position (resistance) of the potentiometer s shaft. The pulse widths are varied between 1 and 2 milliseconds (ms) (see Fig. 9.3). When the potentiometer is in its center position, the pulse width corresponding to that channel is 1.5 ms. When the control is pushed to one extreme, the pulse width increases to 2 ms. When pushed to the opposite extreme, the pulse width shrinks to 1 ms. The receiver decodes the pulses on the carrier signal and sends them to their respective servo motors. The servo motor is an integral unit, containing a motor, gearbox, output shaft, and a printed circuit board (PCB). The PCB on the inside of the servo motor generates a reference pulse that is based on the position of an internal potentiometer connected to the output shaft. A decoder chip on the internal PCB compares the incoming pulses from the receiver to the reference pulses. The servo motor attempts to match the pulse widths of the two signals by adjusting the position of the servo motor s output shaft. This is how the servo motor tracks and holds its position based on the signal from the transmitter.
Eyes
The eye(s) for our T-bot is a miniature color video camera system with audio (see Fig. 9.4). The color camera system includes both a 2.4-gigahertz (GHz) transmitter and receiver. The camera system cost is approximately $99.95. The overall size of the camera is small. It is mounted to the body of the transmitter by a small angled bracket. The video camera is small enough so that two video cameras are capable of being mounted side by side and have the approximate interpupilary distance (IPD) of 63 millimeters (mm) between lenses. Mounting a pair of cameras like this will enable the T-bot to transmit realistic stereo pictures to the operator. For the prototype we will use just one camera; later we will discuss improvements to the system that
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9.4 Color camera with audio and 2.4-GHz transmitter
will add stereo-vision to provide depth perception to improve telepresence and operation. The prototype T-bot contains a single miniature video camera with audio. The T-bot subsystems are built in modular form. Therefore, if the reader wishes to create a stereo system in the future for the T-bot, the video components are reusable.
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