Khepera

Überblick

• Baujahr:  2001 (Khepera II), 1996 (Khepera I)
• Projekt:  Einsatz in der Lehre

Ausstattung

• Hardware Platform:   K-Team, Switzerland
• Size:
  diameter 70mm
  height 30mm
  weight 80g
• Drive:
  differential drive
  2 driven wheels
  2 castor points, 0,02 . . 0,5 m/s
• Sensors:
  8 infra-red (range 100mm)
  3 analog inputs (0-4.3V, 8bit)
  communication standard serial port, up to 115kbps
  incremental encoders (roughly 12 pulses per mm of robot motion)
  front camera
  omni-directional camera (analog)
• Onboard-PC:
  Motorola 68331, 25MHz
  RAM 512 Kbyte, Flash 512 Kbytes (Programmable via serial port)
  (Khepera I: Motorola 68331 CPu, 16 MHz, 256 KB RAM, 512 KB EEPROM)
• Power Supply:
  NiMh-Accu
  max. 1h operating time
• Other:
  serial port for power supply and communication for higher level applications
  remote control software for Labview, Matlab and Sysquake

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