3. Holonomic Robot
What does holonomic mean?
• Velocity constraints are holonomic if
they force a curve in state space to stay
in a proper subspace.
• Robot can turn 360 without moving its
pivot point.
• Can change directions at any given
point
4. Holonomic Robot
Advantages of holonomic robots:
• Maneuver in very tight spaces
• Hardware easy to see and understand
• Can teach linear programming and math
• Allows flexibility to programming
RMI
Preprogrammed instructions
Instructions on the fly
5. Holonomic Robot
Main parts of the Robots are:
• Basic Stamp II
• Omni-wheels
• Carrying hardware
• Circuit board
• Batteries
• PDA
6. Holonomic Robot
Difference from PPRK project
• PPRK uses Palm OS vs. WinCE
• PPRK programmed in C vs. java RMI
• Holobot uses javax.comm for WinCE
• Holobot has wireless capability
• HP 5450 used for Holobot’s server
• Basic Stamp II vs. Pontech SV203
• Setting CLASSPATH for WinCE
7. Holonomic Robot
How does the Holobot move?
• Impulses sent to servos from stamp
• Stamp receives speeds from RMI server
• Time received from RMI server
• Omni-wheels allow movement in any
direction
• Direction depends on which servo
receives the impulse the Basic Stamp II
10. Holonomic Robot
Presets:
• 1 1 1
straight
• 1 0 0
turn right
• 1 0 1
spin right
• 0 0 0
turn left
• 0 0 1
spin left
11. Holonomic Robot
Difficulties with the project:
• Running java RMI on the PDA
• Installing javax.comm on the PDA
• Setting up the CLASSPATH on WinCE
• Constructing the hardware for the
Holobot
• Writing Basic Stamp II program
