Robotino
Robotino Mobile robot platform for research and training
Robotino Mobile robot platform for research and trainingRobotino New potential at all levelsMobile robot platformfor research and trainingWith its omnidirectional drive, sensors, interfaces and applicationspecific extensions, Robotino isequipped for universal use.The most important programminglanguages and systems are available for programming individual applications.Mobile robotics andservice roboticsJust as industrial robots, mobile andservice robots are also becomingmore and more important. In keeping with this technical and economictrend, the new Robotino forms thebasis for research and training inthese applications.2Extremely powerful:The new computer performanceWith scalable computer performancefor autonomous control, image processing and the evaluation of datafrom laser scanners.Worldwide at your fingertips. Find your contact person at: www.festo-didactic.comMore interfaces than ever beforeMore convenient, faster, more diverse: new, state-of-the-art functions ensure greatest possible system expandability.Open source conceptFull access to the entire source codefor the implementation of robot applications with common programming languages and systems.
Robotino Mobile robot platform for research and trainingFit for research:With the Robotino for Industry 4.0With its new, flexible operatingheight, Robotino has been fullyintegrated into the world of MPS systems and research factories asan autonomous transport system.Once programmed, Robotino automatically identifies, for example, thecorrect MPS station – the first steptowards a fully automated production system!Sturdy and movableWith three independently driven omniwheels, Robotino can move in alldirections. The stainless steel structures of the frame ensure high stability in every travel situation.Payload greaterthan unladen weightThanks to its sturdy design, Robotino can move a payload of up to30 kg while weighing 20 kg itself.Flexible and adaptable designNumerous mounting choices andthe optional mounting tower withindividually positionable platformsensure that Robotino can be usedfor a wide variety of tasks.Plug and playRobotino supports various grippers, manipulators and sensorsthrough plug and play. Robotino recognises these components oncethey are connected, and the controlcan begin.www.festo-didactic.com3
Robotino Mobile robot platform for research and trainingRobotino For research and education: Premium Edition and Basic EditionSelect your version!Robotino is available in two standard versions, Premium Edition andBasic Edition. These two versionsdiffer in computing power, the sizeof the internal memory and the mechanical extension, the mounting tower.Omnidirectional driveThe three drive modules of the Robotino are integrated in a stable,laser-welded stainless steel frame.With its omnidirectional drive, Robotino moves quick as a flash forwards, backwards and sideways andalso turns on the spot. Three sturdyindustrial DC motors with optical rotary encoders permit speeds of up to10 km/h.Everything in viewThe frame contains nine infrared distance sensors. An analogue inductivesensor and two optical sensors areadditionally available, enabling theRobotino to recognize and followpredefined paths. Robotino is supplied with a colour camera with fullHD 1080p resolution.Uninterrupted usePower is supplied via two 12 V nonspillable lead-gel rechargeable batteries which permit a running time ofup to four hours. The system is automatically switched off in time if thestate of charge is too low. A powersupply unit and a jack are included inthe scope of delivery, which meansthat Robotino can also be usedfor experiments or further development of control programs while it’scharging.4Worldwide at your fingertips. Find your contact person at: www.festo-didactic.com
Robotino Mobile robot platform for research and trainingPremium Edition8029256Basic Edition8029346Robotino ArbeitsbuchIncluded in scope of delivery:Mit CD-ROMMobile robot system–– Diameter: 450 mm, height incl. controller housing: 290 mm–– Total weight: approx. 20 kg (without mounting tower), payload: max. 30 kg–– Circular stainless steel frame with omnidirectional drive–– Rubber protection strip with built-in collision-protection sensor–– 9x infrared distance sensors, 1x inductive sensor, 2x optical sensorsFesto Didactic–– Colour camera with full HD 1080p resolution and USB interface8029494 de–– Premium Edition: mounting tower with three mounting platformsControl and interfaces–– Embedded PC to COM Express specification–– Premium Edition: Intel i5, 2.4 GHz, dual core, 8 GB RAM, 64 GB SSD–– Basic Edition: Intel Atom, 1.8 GHz, dual core, 4 GB RAM, 32 GB SSDRobotino Basic EditionThe variant for use in technical basicand further training with less computing power, less memory and without a mounting tower.Also order:Robotino WorkbookCampus licence ( Internet):de8029494–– WLAN to specification 802.11g/802.11b as client or access pointen8029495–– Motor control with 32-bit microcontroller and free motor connectiones8029496–– 2x Ethernet, 6x USB 2.0 (HighSpeed), 2x PCI Express slots, 1x VGAfr8029497–– 1x I/O interface for integrating additional electrical componentsRecommended training media–– Robotino SIM Professional–– Robotino SIM Page 9Software–– Graphical programming environment for external PC that runs on Windows XP, Vista,Windows 7/8–– API for programming with C/C , JAVA, .Net, LabVIEW, MATLAB/Simulink, ROS andMicrosoft Robotics Developer StudioControlAt the heart of Robotino is an embedded PC to the COM Expressspecification. This is how the scalability of the computing power isachieved. In the two standard versions of R obotino , an Intel Corei5 processor with 2.4 GHz or an Intel Atom processor with 1.8 GHz isused. The embedded PC can be exchanged at any time. The operatingsystem and all user data are storedon a solid state disk (SSD) with 64GB or 32 GB.A 32-bit microcontroller that directlygenerates the PWM signals for actuating up to four electric DC motors isresponsible for the motor control. AnFPGA is used to read in the encodervalues of the motors. This enables,for example, the odometer data andany additional sensor-specific correction data to be calculated directly inthe microcontroller.ExpandabilityAdditional components can be connected to the robot controller viastandard interfaces such as USB andEthernet. For subsequent expansion,the controller also provides analogueand digital inputs/outputs and relayoutputs for additional actuator technology. In order to support interfacessuch as EIA-485 and IEEE 1394 thatare not available in the standard versions, there are two PCI Express slotsfor interface cards. Additional electric axes and grippers, for example,can be connected to an additionalmotor output and encoder input.The Premium Edition already contains the optional mounting towerfor Robotino . The mounting columnof the tower offers various optionsfor fastening mounting platforms formanipulators or sensors at differentheights.Graphical programmingRobotino View is the interactive,graphical programming and learningenvironment for Robotino . It communicates directly with the robotsystem via wireless LAN. The programming system combines stateof-the-art operating concepts, expandability by the user and intuitiveoperation. After the program hasbeen developed, it can be loadedinto the controller of Robotino inorder to enable completely autonomous operation.First steps with simulationAs an add-on, you can use an attractive 3D simulation package( Robotino SIM), which simulatesthe Robotino ’s travel behaviour andsensors in an appropriate workingenvironment. This allows you to testyour programs in the simulation first.Open programming environmentThe programming interface (API) ofRobotino allows various programming languages and systems to beused to develop a control program.The API supports the following languages and systems:–– C/C , JAVA, .Net–– LabVIEW and MATLAB/Simulink–– Robot Operating System (ROS)–– Microsoft Robotics Developer StudioHardware-in-the-loop scenarioIf you create your own motor controller, e.g. in MATLAB, the motors ofRobotino can be controlled with thissoftware controller via the Ethernetinterface.Microcontroller programmingThe 32-bit microcontroller is externally accessible and can be used directly for programming custom applications.www.festo-didactic.com5
Robotino Mobile robot platform for research and trainingWLAN access pointThis external access point supportsthe W-LAN standard IEEE 802.11gwith a transmission rate of up to 54Mbps.The external access point enablesyou to connect multiple Robotinos to an Ethernet PC network withoutany problems. To do this, the Robotinos only need to be switched to client mode. The Allnet access pointis preprogrammed for you, and willautomatically start communicationwith the Robotinos . To secure thewireless network externally, WEP/WPA encryption and MAC address filters are implemented.Logistics KitScope of delivery–– Access point–– Programmed with “Robotino APX.1”–– USB power cable and Ethernet cableThe Logistics Kit consists of an electric gripper, flat storage area with 2rows, an inductive sensor and a setof workpieces.The electric gripper is completely integrated in the Robotino platform,so that while it is moving, monitoring is not necessary for potentialcollisions with the gripper. The gripper detects workpieces between thegripper jaws by means of an integrated through-beam sensor. To pick upa workpiece from a bearing surface,a slide is integrated, which signalisesthe optimal position for the grippingprocess to the Robotino . The gripper end positions are checked via themotor current evaluation.The gripper function is available as afunctional module in Robotino View(starting from Version 1.7).Scope of delivery–– Electric gripperGripper stroke: 4 mmMaximum workpiece diameter:40 mmMaximum workpiece weight: 300 gGripping force: 140 NClosing/opening time: 2 sOperating voltage: 24 V DCMaximum current: 140 mA–– Analogue inductive sensor formounting in the middle of the robot frame–– Flat storage area with 2 rowsand 3 storage places per row forcylinder-shaped workpieces with amaximum diameter of 40 mm.–– Workpiece set–– Aluminium adhesive tape for marking the access routes to thestorage area, which the Robotino can align itself on for gripping theworkpieces.Robotino from 20148029450Robotino until 2013564179The most important components at a glance:Electric gripper, Robotino from 2014 8029451Electric gripper, Robotino until 2013564176Inductive sensor, analogue, Robotino from 2014 8029483Order no.624-month Festo Didactic warranty567228Inductive sensor, analogue, Robotino until 2013564177Flat storage564178Workpiece set “Cylinder bodies”167021Aluminium tape564213
Robotino Mobile robot platform for research and trainingElectric gripper armForkliftThe electric gripper arm for Robotino is a triple-axis gripper arm withservo motors that is installed in theloading bay of the Robotino . Thecontrol board supplied is connected to the power supply (24 V) of theI/O interface and the arm movementcontroller via the USB interface. Thehandling weight is limited to 200 gand the gripper stroke is 30 to 60mm. The unit can grip workpieces intwo places. The gripper jaws are fitted with opto-electrical sensors todetect when a workpiece is present.With the easy to use forklift, the Robotino operates, for example,as a driverless transport system ina production environment.Overview of key technical details:–– Load bearing capacity up to 200 g–– Gripper stroke 30 – 60 mm–– Two gripping positions–– Opto-electrical sensors for detecting presence at the gripping positions–– Controlled servo motors–– 24 V DC power supply–– USB connectionThe gripper jaws supplied allow handling of MPS workpieces. Robotino View supports manipulator programming with a list of positions andfunction blocks for reading and writing axial values. In addition, Robotino SIM Professional contains a simulation model of the electric gripperarm for Robotino . The manipulatorcan also be controlled via the OpenRobotina API.Assembly is done in the loading bayof the Robotino with the assemblymaterial included in the scope of thedelivery. The electrical interface ofthe forklift is possible using the existing additional motor control. Here,the voltage supply and the incrementgenerator are directly connected tothe motor plate.Technical data–– Load bearing capacity up to 4 kg–– Maximum stroke 160 mm–– 2 proximity sensors for end-position monitoring–– 1 diffuse sensor for pallet control–– 2 self-centring pallets (included inscope of delivery)–– Connection via motor controls andencoder input–– Compatible with control boardEA09Programme the function of the forklift in the Robotino view or via theOpenRobotino programming interface. In Robotino view you can setthe axial speed from -100% to 100%using the “Power output” modulecomponent and read the axial position and speed of the linear axis using the “Speed sensor input” modulecomponent.Basic principles and details of theautomated logistics can be determined with this extension to therange of applications.Robotino from 20148029452Robotino from 20148029453Robotino until 2013574147Robotino until 2013576300www.festo-didactic.com7
Robotino Mobile robot platform for research and trainingLaser scannerThe laser scanner for Robotino allows the creation of maps, localisation and navigation, as well as obstacle recognition, thanks to the digitaldetection of objects on one plane. Inorder to prevent collisions, the 2D laser scanner Hokuyo URG-04LX-UG01can be mounted above the controller,for an all-round view, or in the loading bay of the Robotino . The scanner is connected to the control unitand supplied with power via a USBconnection.Overview of key technical details:–– Measuring range 20 – 5600 mm–– Angle range 240 –– Resolution 1 mm–– Precision 30 mm or 3% at1000 mm or greater distancefrom an object–– Scanning frequency 10 Hz–– Power consumption 2.4 W–– Weight 160 g–– USB connectionThe laser scanner is fully integratedinto the Robotino software architecture. The laser scanner’s measured values can be accessed by bothRobotino View and self-developedcontrol programs.8Robotino from 20148029454Robotino until 2013576310Order online at: www.festo-didactic.com
Robotino Mobile robot platform for research and trainingRobotino SIM ProfessionalRobotino SIMRobotino SIM Professional is anideal virtual learning environment forworking with Robotino . Identifyingdifferences based on actual behaviour is the key to grasping, analysingand understanding new physical andtechnical phenomena. The softwareenables you to create any virtual 3Dworking environments for Robotino and then to simulate the programcreated. The software is available infour languages (de/en/es/fr) and thelanguage selection can be changedonline.The Robotino library includes additional components such as grippers,slides, laser scanners and workpieces. You are notified of new components in the library via the Internet.Robotino SIM is a Windows software program for the 3D simulationof Robotino in an exciting, predefined virtual experimentation environment.The editor and the complete model library in LabCreator provide youwith an outstanding working environment for quickly and easily creating attractive virtual scenarios forRobotino .The Robotino simulation modelc annot be extended, and includesthe geometric model with the threeomnidirectional drive wheels, a camera, nine distance sensors and thedigital sensor in the chassis protection strip.The Robotino simulation modelcomprises the geometric model with–– three omnidirectional drives–– two inductive analogue sensors–– two digital optical sensors–– nine distances sensors–– a camera–– sensor in the chassis protectionstripRobotino can be programmed usingRobotino View or in one of the highlevel languages C, C , C# or Java. Todo this, you require the corresponding API interface.The latest version of Robotino SIMis now available to download free ofcharge.You can program Robotino free ofcharge using Robotino View or using one of the high-level languagessuch as C or Java.To use the software, you requirea Windows 2000, XP, VISTA or Windows 7 operating system. For 3Dvisualisation, a graphics card with atleast 128 MB RAM and OpenGL support is required.Scope of delivery–– CD with software in de/en/es/fr–– Manual in de/en/es/fr–– 2 dongle with individual licenses–– Network dongle with 25 licensesOrder no.567230www.festo-didactic.com9
Robotino Mobile robot platform for research and trainingImplementing your own applications with Robotino With Robotino , you can implementyour own applications in the fields ofmobile robotics and service robotics.The mounting tower allows you to attach standard components or extensions developed by you to Robotino at any height and to connect them tothe control system via the providedinterfaces. This means you can convert Robotino quickly and easilyfrom a forklift truck to a service robot, for example.A flexible and adaptable designRemove covers (1)Fasten mounting column (2)Fix mounting platform at any level (3)Connect, align and mount laserscanner and camera (4)123Attach platform with electric gripperand connect gripper (5)Connect and fasten signal column (6)410www.festo-didactic.com56
Robotino Mobile robot platform for research and trainingRobotino project ideasThe modular structure, attachmentdevices and open software interfacesmake Robotino the ideal platformfor project work.With Robotino , we provide the platform – now nothing stands in the wayof developing exciting extensions.This is how fascinating projects arecreated. A few of them are describedhere. More detailed information canbe found at www.robotino.deThe advantage for you:–– Reliable design – stable frame:no investment in mechanical maintenance–– Operating system based onLinux or Windows – for softwarereliability–– Powerful drive unit and high-quality omnidrive – concentrating on anintelligent solution for the projecttaskTechnical defects, non-reproducibleeffects and undesired project delaysare therefore a thing of the past.Would you also like to implementprojects with Robotino ?E-mail: did@de.festo.com.ProLog factoryThe ProLog Factory provides an outstanding new training platform forlogistics. The material flow is implemented using Robotino mobile robot systems, which also have anintegrated lifting arm to pick up anddeposit pallets at different stationsfor a specific job.World champion!Robotino is the official competition equipment for the WorldSkillsinternational competition. In the national preliminary rounds as wellas the international championships,the participants of the competitionuse Robotino mobile robotics as an autonomous transport system or asa service robot, for example.Fit for research:RoboCup Logistics LeagueResearchers from all over the worldcompete against each other in theRoboCup Logistics League, in whichRobotino takes on the task of anautonomously operating driverlesstransport system. As from 2014, thenew Robotino is also permited inthe RoboCup.Worldwide at your fingertips. Find your contact person at: www.festo-didactic.com11
Festo worldwideFinlandFesto OyMäkituvantie 9PL 8601511 VantaaTel. 358 (09) 87 06 51,Fax 358 (09) 87 06 52 00E-mail: info fi@festo.comAustraliaFesto Pty. Ltd.Head Office (Melbourne)179-187 Browns RoadP.O. Box 261Noble Park Vic. 3174Tel. 61(0)3 97 95 95 55,Fax 61(0)3 97 95 97 87E-mail: info au@festo.comFranceFesto EurlZA des Maisons Rouges8 rue du clos sainte Catherine94360 Bry-sur-MarneTel. 33 (0) 820 20 46 40 (numéro indigo),Fax 33 (0) 820 20 46 41E-mail: info fr@festo.comAustriaFesto Gesellschaft m.b.H.Linzer Straße 2271140 WienTel. 43 (0)1 910 75-0, Fax 43 (0)1 910 75-250E-mail: automation@festo.atBelarusIP FestoMasherov avenue, 78220035 MinskTel. 375 (0)1
www.festo-didactic.com 5 Control At the heart of Robotino is an embedded PC to the COM Express specification. This is how the scal-ability of the computing power is achieved. In the two standard ver-sions of Robotino , an Intel Core i5 processor with 2.4 GHz or an In-tel Atom p
Festo Didactic schließt hiermit jegliche Haftung für Schäden des Ausz ubildenden, des Ausbildungsunternehmens und/oder sonstiger Dritter aus, die bei Gebrauch dieser Komponenten und Anlagen außerhalb einer reinen Ausbildungssituation auftreten; es sei denn Festo Didactic hat so
linked to the CP Factory by the mobile robot Robotino or the selector module. Seamless transition to the CP Factory CP Factory – the universal re- search and learning platform – is the highest level of Festo Didactic’s progressive, modular training concept for Industry 4.0. The I4.0
"LEGO WeDo" is a simple set that allows students to construct different versions of robots and to program simple functions through simple software tools.[3] . the robot, to analyse structure and construction of the robot and to optimize synthesis of control system. Figure 5. shows the simplified dynamic model of Robotino.
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