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Wellcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.
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Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.
  
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These pages will contain updated information on RSE projects and other issued related to robotics research.
+
These pages will contain updated information on RSE projects and other issues related to robotics research.
  
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= Mobotware =
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= New site =
  
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(Mobile Robot software)
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=== This site is no longer maintained ===
  
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AURS [[AU Robot Servers]], download and documentation
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See http://rsewiki.electro.dtu.dk
  
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[[RHD]] Robot Hardware Daemon
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= Facilities =
  
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[[Robot sensor modules]], (hardware/firmware) description and documentation
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* [[ASTA|Autonomous System Testing Arena (ASTA)]]
  
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[[Simulation]], description of simulation environments
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* [[ASTA motion capture|Motion capture (Optitrack)]]
  
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MRC - see SMR below
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* [[uASTA|μASTA]]
  
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[[Version and download]]
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* [[Lipo Safety | Lipo safety]]
 +
 
 +
* [[Workshop]]
  
 
= Robots =
 
= Robots =
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[[List of SMRs]] (List of SMRs)
 
  
 
[[SMR]] (Small Mobile Robot)
 
[[SMR]] (Small Mobile Robot)
  
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[[MMR]] (Medium Mobile Robot)
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[[UR5]] (Universal Robot UR5 Arm)
  
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[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)
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[[UR10]] (Universal Robot UR10 Arm)
 +
 
 +
[[Fieldrobot]] (Fieldrobot)
 +
 
 +
[[iRobot ATRV-Jr]]
 +
 
 +
[[TerrainHopper]]
 +
 
 +
[[regbot]] (small robot intended as control-1 exercise)
 +
 
 +
[[robobot B | Robobot]] A small 4-wheel robot intended for DTU Robocup.
 +
 
 +
[[SimServer]] Stage-based multi-robot simulator
 +
 
 +
[[Drone control]] drone base control
 +
 
 +
[[Fejemis]] autonomous cleaning
 +
 
 +
[[Capra]] P5
 +
 
 +
[[Scorpi]] crane robot
 +
 
 +
=== Other projects===
 +
 
 +
[[Claas axion]] (Semi-autonomous heavy tractor)
 +
 
 +
[[Labyrinth]] (Labyrinth game)
 +
 
 +
[[DTU running path dataset]]
 +
 
 +
[[Mini40 force/torque sensor]]
 +
 
 +
[[Robotiq gripper]]
 +
 
 +
[[Visual Tracking on Pixhawk]] (Position estimation of Pixhawk flight controller with external camera)
 +
 
 +
[[3D localization]] based on sensor network
 +
 
 +
<!-- [[Magnetic Navigation]] sensor -->
 +
<!-- [[robocup]] -->
 +
[[inspection robot]] (4/6-legged robot)
 +
<!-- [[3D printer]] Zortrax M300 -->
 +
 
 +
= Mobotware =
 +
 
 +
(Mobile Robot software)
 +
 
 +
* [[AU Robot Servers]] (AURS) includes servers for soft real-time processing, e.g.: camera and laser scanner processing.
 +
 
 +
* [[RHD]] (Robot Hardware Daemon) is the hardware abstraction layer, with interface to real-time sensors and actuators.
 +
 
 +
* MRC - see SMR below - is the real-time movement control (and mission control using the SMR-CL language)
 +
 
 +
[[Version and download]]
  
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[[hexakopter]] (notes for six-rotor helicopter)
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[[Automated test setup]]
  
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= RTAI-Linux system considerations =
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= Linux system considerations =
  
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[[Switchtool]] - Shift to Mobotware (development) branch on the robots
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[[Switchtool]] - Shift Mobotware version - earlier, newer or the one locally on the robots
  
 
[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)
 
[[Rules for udev on RTAI]] (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)
  
 
[[Naming networkinterfaces using udev]]
 
[[Naming networkinterfaces using udev]]
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−
[[Slackware OpenCV package install]]
 
  
 
[[Setting permissions for various devices using udev]]
 
[[Setting permissions for various devices using udev]]
 +
 +
[[Authenticating Linux clients against MS Active Directory]]
 +
 +
[[Using GDB for coredump]]
 +
 +
 +
====Older pages====
 +
 +
[[flexbot]] design work to get a flexible stair climbing robot
 +
 +
[[Ubuntu 32-bit or 64-bit]]
 +
 +
[[Slackware OpenCV package install]]
  
 
[[Slackware packages in robot image]]
 
[[Slackware packages in robot image]]
 +
 +
[[MMR]] (Medium Mobile Robot)
 +
 +
[[HAKO]] (KU Life tractor, now in Hohenheim University Germany)
 +
 +
[[hexakopter]] (notes for six-rotor helicopter including the pixhawk autopilot)
  
 
= Controllab =
 
= Controllab =
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[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)
 
[[Realtime testing]] (Description of small test procedures to verify RTAI realtime operation)
  
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[http://server.elektro.dtu.dk/www/sh/junk/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)
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[http://aut.elektro.dtu.dk/staff/sh/rsewiki/matlabrtai_intro.pdf Introduction to Matlab RTW and RTAI] (Guide for usage of RTAILab with Matlab RTW and Simulink)
  
 
= How-to documentation =
 
= How-to documentation =
 +
 +
====installation====
  
 
[[NTP howto]] time-sync 2 computers
 
[[NTP howto]] time-sync 2 computers
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Using the [[RSE SVN]] repository
 
Using the [[RSE SVN]] repository
  
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[[Flash disk cloning]]
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[[Flash disk cloning]] - to repair robot boot disk image
  
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[[AU software license considerations]]
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[[Install on (K)UBUNTU]] - for test and development on PC or laptop
  
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[[RoboCup]]
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[[Install on raspberry]] - install Mobotware on raspbian (NOOBS) or a Debian based Linux on Beagle-bone.
  
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[[Opdating /usr/local/smr]]
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[[Install Universal Robots simulator on lab PC]]
  
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[[Demo of stereo camera]]
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[[Remote Development of Mobotware Using Eclipse]]
  
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[[Install on (K)UBUNTU]]
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[[Set hostnames from dhcp-server with dhclient on *buntu systems]]
  
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[[Install GUI-less UBUNTU]]
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[[Notes on compiling augclient]] - GUI interface for Mobotware used fx. in AGCO project
  
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[[Robot GUI (MARG)]]
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====utility pages====
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[[Transition to version 2011]] - notes
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+
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[[Remote Development of Mobotware Using Eclipse]]
+
  
 
[[Convert a .tex document to openoffice]]
 
[[Convert a .tex document to openoffice]]
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[[Access DTU campus network using VPN from Linux]]
 
[[Access DTU campus network using VPN from Linux]]
  
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[[disable display manager on boot]]
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[[disable display manager on boot]] (and thereby the graphic user interface)
 +
 
 +
[[How to make a animation from separate images]]
 +
 
 +
[[Citrix access to DTU files and Windows Apps]]  (Using Citrix Receiver, preferred way from 2015+)
 +
 
 +
[[Latex]] where to put document class files in ubuntu installation
 +
 
 +
[[file export]] testpage for export of files
 +
 
 +
====older pages====
 +
 
 +
[[RoboCup]] - bl.a. scoreboard - not maintained
 +
 
 +
[[AU software license considerations]]
 +
 
 +
[[Robot GUI (MARG)]] - (no longer maintained)
 +
 
 +
[[Install GUI-less UBUNTU]] - new boot disk image for robots
  
 
= Demonstrations =
 
= Demonstrations =
  
 
[[PLC controlled traffic light]]
 
[[PLC controlled traffic light]]
 +
 +
[[Machine shop in 326]]
 +
 +
[[Inverted pendulum]]

Latest revision as of 05:22, 27 July 2024

Welcome to the wiki pages of the Robot Systems Engineering (RSE) group of Automation and Control at DTU Electical engineering.

These pages will contain updated information on RSE projects and other issues related to robotics research.

Contents

[edit] New site

[edit] This site is no longer maintained

See http://rsewiki.electro.dtu.dk

[edit] Facilities

[edit] Robots

SMR (Small Mobile Robot)

UR5 (Universal Robot UR5 Arm)

UR10 (Universal Robot UR10 Arm)

Fieldrobot (Fieldrobot)

iRobot ATRV-Jr

TerrainHopper

regbot (small robot intended as control-1 exercise)

Robobot A small 4-wheel robot intended for DTU Robocup.

SimServer Stage-based multi-robot simulator

Drone control drone base control

Fejemis autonomous cleaning

Capra P5

Scorpi crane robot

[edit] Other projects

Claas axion (Semi-autonomous heavy tractor)

Labyrinth (Labyrinth game)

DTU running path dataset

Mini40 force/torque sensor

Robotiq gripper

Visual Tracking on Pixhawk (Position estimation of Pixhawk flight controller with external camera)

3D localization based on sensor network

inspection robot (4/6-legged robot)

[edit] Mobotware

(Mobile Robot software)

  • AU Robot Servers (AURS) includes servers for soft real-time processing, e.g.: camera and laser scanner processing.
  • RHD (Robot Hardware Daemon) is the hardware abstraction layer, with interface to real-time sensors and actuators.
  • MRC - see SMR below - is the real-time movement control (and mission control using the SMR-CL language)

Version and download

Automated test setup

[edit] Linux system considerations

Switchtool - Shift Mobotware version - earlier, newer or the one locally on the robots

Rules for udev on RTAI (How to use udev rules to get correct modes for RTAI fifos and Comedi devices)

Naming networkinterfaces using udev

Setting permissions for various devices using udev

Authenticating Linux clients against MS Active Directory

Using GDB for coredump


[edit] Older pages

flexbot design work to get a flexible stair climbing robot

Ubuntu 32-bit or 64-bit

Slackware OpenCV package install

Slackware packages in robot image

MMR (Medium Mobile Robot)

HAKO (KU Life tractor, now in Hohenheim University Germany)

hexakopter (notes for six-rotor helicopter including the pixhawk autopilot)

[edit] Controllab

Platform list (List of computers used for various control set-ups)

Realtime testing (Description of small test procedures to verify RTAI realtime operation)

Introduction to Matlab RTW and RTAI (Guide for usage of RTAILab with Matlab RTW and Simulink)

[edit] How-to documentation

[edit] installation

NTP howto time-sync 2 computers

Using the RSE SVN repository

Flash disk cloning - to repair robot boot disk image

Install on (K)UBUNTU - for test and development on PC or laptop

Install on raspberry - install Mobotware on raspbian (NOOBS) or a Debian based Linux on Beagle-bone.

Install Universal Robots simulator on lab PC

Remote Development of Mobotware Using Eclipse

Set hostnames from dhcp-server with dhclient on *buntu systems

Notes on compiling augclient - GUI interface for Mobotware used fx. in AGCO project

[edit] utility pages

Convert a .tex document to openoffice

Access DTU campus network using VPN from Linux

disable display manager on boot (and thereby the graphic user interface)

How to make a animation from separate images

Citrix access to DTU files and Windows Apps (Using Citrix Receiver, preferred way from 2015+)

Latex where to put document class files in ubuntu installation

file export testpage for export of files

[edit] older pages

RoboCup - bl.a. scoreboard - not maintained

AU software license considerations

Robot GUI (MARG) - (no longer maintained)

Install GUI-less UBUNTU - new boot disk image for robots

[edit] Demonstrations

PLC controlled traffic light

Machine shop in 326

Inverted pendulum

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