• Breadboards
• Test Bench

Breadboard Test Bench

The breadboard test bench is the environment we have setup for testing the reliability of the first prototypes of mechanical subassemblies for the PR-2 robot.

Live view of the test setup

The view can be seen and controlled at http://cam1.willowgarage.com (only available on the willow network) http://axn.willowgarage.com/zm/

Goal

• Provide a mobile platform which has everything needed to test the subassembly.

• Implement what is outline here Test & Qualification Cart

Approach

• We have all the controller boards daisy chained to the Elmo Maestro motion controller through a CAN network.

Procedures

Startup

• turn on computer
• log in
• start vmware
• start winxp vm
• Plug in all 4 controller boards
• Turn on 24V powersupply
• start composer

Shutdown

• Unplug all 4 controller boards.
• turn off 24V supply
• exit all software

Software

• resonant frequency sweep analysis (using auto tuning in composer)
• step response (todo)
• auto_calibration (working in c, needs controller interface again)
• lifetime testing (melonee is doing this in composer for now)

Shared Parts

• /Elmomc multi axis motor controller

• Base cart
  • Safety cover for protection
  • Plug strip with circuit breaker
  • 48V DC power supply (2 sizes)

    • S-150spec.pdf

    • SE-600spec.pdf

• Dedicated computer available over the network
• Google calendars for each cart
  • Use add by URL to add to your calendar
  • It should auto accept any invitation sent to it
• Optical Limit Switches

  • Sunx PM-L24R

Specific Carts