Open Source Robotics

Open Source Software and Hardware

For Robotic and Computer Controlled Systems

Farrukh Zia

Computer Engineering Technology Department

New York City College of Technology

IEEE Student Chapter Seminar

April 24, 2014

Source code files are openly available for

everyone to study, copy and modify.

Most famous example?

Linux Operating System

Benefit: Almost free

The small cost involved is the cost of

download / duplication and

storage media (HD, DVD, SD Card)

Open Source Software?

Schematic / PCB files are openly available for

everyone to study, copy, assemble and modify.

Most famous example?

IBM PC

(Schematic diagrams in Reference Guide)

Benefit: Lower cost

The cost involved is the cost of

manufacturing / assembly and

components (PCB, ICs, enclosure)

Open Source Hardware?

A Computer Controlled System consists of several sub-systems

(1) Frame / Chassis / Mechanical Components

Frame or chassis and mechanical components contribute significantly towards the cost of a computer controlled or robotic system

Frame or Chassis / Mechanical Components (linkages, gears, etc.)

Metal

strong but expensive

Plastic, Wood

not as strong but cheaper

Dropping prices of 3D printers will change this in the future

Availability of open source design of mechanical components will make it possible to create inexpensive plastic parts on a 3D printer

(1) Frame / Chassis / Mechanical Components (cont.)

Electro-Mechanical components

Motors

Relays

Solenoids, etc.

continue to be relatively expensive

(2) Power Supply

Inexpensive switching power supplies based on open source hardware reference designs

Hardware reference designs are available in switching IC manufacturer's data sheets

Examples:

AC to DC (120V to 12V or 5V) adapters for charging portable equipment from household AC supply

DC to DC (12V to 5V) adapters for charging portable equipment in automobiles

(3) Micro-Controller Unit (MCU) (Internal Architecture)

(3) Micro-Controller Unit (cont.)

Arduino hardware and software platform

One of the best modern day example of the benefits of open source hardware and software

Open source hardware design is available on Arduino web site

Integrated Development Environment (IDE) software is open source and free

Arduino IDE is used to create control programs for Atmel ATMega series of micro-controllers

(4) Control Program

The popularity of Arduino IDE for creating control programs has led to its adaptation for other micro-controllers e.g.

Microchip PIC32 (32-bit) micro-controller series (chipKIT boards)

Intel Quark micro-processor (Galileo board)

(4) Control Program (cont.)

Reasons for popularity of Arduino IDE

Open source and free

Available for Windows, Linux and Mac OS

Integrates Editor, Compiler (C/C++) and Debugger

One click compiling and uploading of control program to the micro-controller over a USB cable

(4) Control Program (cont.)

And the most important reason:

Includes open source function libraries written by volunteer programmers for:

simple analog and digital, as well as many advanced sensors

wide variety of output devices

Which makes it relatively easy to create fairly complex control programs

(5) Input Sensors

Simple sensor examples

Digital (logic level High/Low output)

Infra-Red Detector

Analog (analog voltage output)

Temperature Sensor

Open source hardware based advanced sensor examples

Inertial Measurement Unit (tilt and rotation sensor) (I2C interface)

Ultrasonic Distance Sensor (pulse width modulation) (PWM interface)

Open source function libraries are available to use these sensors with Arduino compatible boards

(6) Output Devices

Examples of output devices

LED / LCD display

Motors

DC, Servo, Stepper

Open source function libraries are available to use these devices with Arduino compatible boards

(7) Interface Circuits

Example of open source hardware based interface circuit based on application specific integrated circuit (ASIC)

H-Bridge motor controller

Open source hardware design is usually based on IC manufacturer's reference hardware design published in data sheet

(8) Data Communication

Low cost micro-controllers designed for robotics and embedded applications have built-in support for:

Data communication

UART, I2C, SPI, USB etc.

Network communication

Ethernet, WiFi

Bluetooth, Zig-Bee

Open source / free TCP/IP stack software function libraries are available for network communication

Talk and Roll Bot

A robot that can: Talk By using speech synthesis & Roll Move around on two wheels

Talk and Roll Bot - Block Diagram

Talk and Roll Bot - Subsystems

Talk and Roll Bot Open Source Project on OpenLab