View source for Robotic Arm: Team C-Tango: Tango

==Team C-Tango: Tango==
*Team members: [[User: pkoonc1 | Koonce]] | [[User: gpezzol1 | Pezzola]] | [[User: tpollen1 | Pollen]] | [[User: dweinho1 | Weinhold]]

==Arm Photo==
[[Image:ActualModel.JPG]]

==SolidWorks Arm==

[[Image:SolidWorksModel.JPG]]

==SolidWorks Files==

==MatLab Code for Simulation==

==MatLab Code for Physical Model==

===gotoAngles.m===

% Robot Arm Simulation

s=instrfind;   %Find any serial links (we can have only 1)
delete(s);     %... and delete.
%Create a new serial communications link
s=serial('COM1','Baudrate',115200,'Terminator','CR');
fopen(s);      %... and open it

%gotoAngles(s,0,0,1000)

sqX = [5.5 5.5 7.5 7.5 5.5 5.5];
sqY = [1 2 2 0 0 1];

for i = 1:6
    
    [sqX(i),sqY(i)]
    
    [thetaA,thetaB] = inverseKinematics(4.5,3.875,sqX(i),sqY(i));
    
    gotoAngles(s,-thetaA,-thetaB,2000)
    %[a,b,x,y] = forwardKinematics(4.5,3.875, thetaA,thetaB)
    %plot(x,y,'bo')
    %plot(a,b,'ro')
    %axis([-5,7,-5,7])
    %pause(.01)
    %hold on;
    
end


for i = 5.5:.05:7.5
    
    y = 1 + sqrt(1-(i-6.5)^2);
    [thetaA,thetaB] = inverseKinematics(4.5,3.875,i,y);
    gotoAngles(s,-thetaA,-thetaB,50)
    
end

for i = 7.5:-.05:5.5
    
    y = 1 - sqrt(1-(i-6.5)^2);
    [thetaA,thetaB] = inverseKinematics(4.5,3.875,i,y);
    gotoAngles(s,-thetaA,-thetaB,50)
    
end

===inverseKinematics.m===
function [theta_a, theta_b] = inverseKinematics(la, lb, x2, y2)
%Calculate locations of arms of robot
 
%Equations given on website
theta_a=atan2(y2,x2)-acos((la^2+x2^2+y2^2-lb^2)/(2*la*sqrt(x2^2+y2^2)));
theta_b=atan2(((y2-la*sin(theta_a))/lb),((x2-la*cos(theta_a))/lb));
%Convert from radians to degrees
theta_a=theta_a*180/pi;
theta_b=theta_b*180/pi;
theta_b = theta_b-theta_a;

===robotcontrol.m===
% Robot Arm Simulation

s=instrfind;   %Find any serial links (we can have only 1)
delete(s);     %... and delete.
%Create a new serial communications link
s=serial('COM1','Baudrate',115200,'Terminator','CR');
fopen(s);      %... and open it

%gotoAngles(s,0,0,1000)

sqX = [5.5 5.5 7.5 7.5 5.5 5.5];
sqY = [1 2 2 0 0 1];

for i = 1:6
    
    [sqX(i),sqY(i)]
    
    [thetaA,thetaB] = inverseKinematics(4.5,3.875,sqX(i),sqY(i));
    
    gotoAngles(s,-thetaA,-thetaB,2000)
    %[a,b,x,y] = forwardKinematics(4.5,3.875, thetaA,thetaB)
    %plot(x,y,'bo')
    %plot(a,b,'ro')
    %axis([-5,7,-5,7])
    %pause(.01)
    %hold on;
    
end


for i = 5.5:.05:7.5
    
    y = 1 + sqrt(1-(i-6.5)^2);
    [thetaA,thetaB] = inverseKinematics(4.5,3.875,i,y);
    gotoAngles(s,-thetaA,-thetaB,50)
    
end

for i = 7.5:-.05:5.5
    
    y = 1 - sqrt(1-(i-6.5)^2);
    [thetaA,thetaB] = inverseKinematics(4.5,3.875,i,y);
    gotoAngles(s,-thetaA,-thetaB,50)
    
end

==The Final Drawing==
[[Image:TangoDrawing.JPG]