Khepera-III control program for teleoperation

Abstract

Consulta en la Biblioteca ETSI Industriales (7704)

[ES] In this report we describe the implementation of the software solution to provide a Khepera III robot with a friendly easy-to-use graphic user interface to control and configure the main features of the robot. To that purpose, after a study about the robot hardware, we have designed software to provide access to the Khepera III functionalities. The software has been implemented in C++ using QT Designer, enabling a rapid development of high-performance user interface.

The Khepera III is one off-the-shelf mini-robots used in the Guardians, a European Union funded project (IST-045269). The Khepera III is the third generation of the popular Khepera robot produced by K-Team, one of the partners of the Guardians project. The new generation of Khepera is still able to move on a tabletop but it is also designed to move on not only the lab floor but also in rough floor surfaces, carpets, and even doorsteps. Therefore there is a necessity of designing an easy-to-use graphic user interface to handle the basic functions of the robot aforementioned.

The graphic user interface we have designed provides serial port configuration and firmware version information. The user can as well setup the sped parameters, send motion commands and read the wheel encoder information. Another important feature is the sensors reading capabilities. The user can read and configure the proximity and ultra-sonic sensors of the Khepera III robot. The graphic interface also provides battery information, LED manipulation and motor controller configuration.