Difference between revisions of "Robotic Arm Deux"

Revision as of 20:34, 9 December 2008

Members

Robot Arm Deux

Elan Silverblatt-Buser

David D'Annunzio

Matt Bowers

Goals

• Improve original robotic arm:
• We will add three more motors.
• Claw to replace pencil holder.
• This will allow the robot arm to pick objects up (perhaps glasses of water) and pour them.
• Waiters will become obsolete!

Original Design (picture)

Project Description

• Disassemble original arm.
• Attach three extra motors; five total.
• Zero-Out each.
• Test out the movements.
• Find right coordinates for presentation.
• Stabilize and refine the final product.

Matlab Code

gotoAngles5() function gotoAngles5(s,Theta1,Theta2,Theta3,Theta4,Theta5,T)

% Turn servos to specified angles (in degrees).

% s is serial connection.

% ThetaA motor is attached to channel 1 (angle from -90 to +90).

% ThetaB motor is attached to channel 2 (angle from -90 to +90).

% ThetaC motor is attached to channel 3 (angle from -90 to +90).

% ThetaD motor is attached to channel 4 (angle from -90 to +90).

% ThetaE motor is attached to channel 5 (angle from -90 to +90).

% T is time for move (in mS);

pw1=round(Theta1); %Put in calibrarion. pw2=round(Theta2); %Put in calibrarion. pw3=round(Theta3); %Put in calibrarion. pw4=round(Theta4); %Put in calibrarion. pw5=round(Theta5); %Put in calibrarion.

cmd=['#1P' num2str(pw1)...

    '#2P' num2str(pw2)...
    '#3P' num2str(pw3)...
    '#4P' num2str(pw4)...
    '#5P' num2str(pw5)...
    'T' num2str(T)];

fprintf(s,cmd);

pause(T/1000); %Wait for command to finish.

FinalProgram % Robot Part Deux! % Members: David D'Annunzio % Matt Bowers % Elan Silverblatt-Buser

gotoAngles5(s,1530,1550,2350,570,600,3000) gotoAngles5(s,1530,1550,1270,1660,600,3000)

% Grab cup gotoAngles5(s,1530,1550,1270,1660,1400,3000) gotoAngles5(s,1530,1550,2350,570,1400,3000) gotoAngles5(s,1930,1950,2350,570,1400,3000)

% Lower cup to the bowl gotoAngles5(s,1930,1950,1650,1300,1400,3000)

% Pour the cup gotoAngles5(s,1930,1950,1650,2400,1400,3000) gotoAngles5(s,1930,1950,1650,2400,1400,200)

% Shake excess water gotoAngles5(s,1930,1950,1750,2400,1400,50) gotoAngles5(s,1930,1950,1650,2400,1400,100) gotoAngles5(s,1930,1950,1750,2400,1400,50) gotoAngles5(s,1930,1950,1650,2400,1400,100) gotoAngles5(s,1930,1950,1750,2400,1400,50) gotoAngles5(s,1930,1950,1650,2400,1400,100) gotoAngles5(s,1930,1950,1750,2400,1400,50) gotoAngles5(s,1930,1950,1650,2400,1400,100)

% Bring cup to final platform gotoAngles5(s,1930,1950,1650,1300,1400,3000) gotoAngles5(s,1930,1950,2350,570,1400,3000) gotoAngles5(s,1330,1250,2350,570,1400,3000)

% Lower cup to final platform gotoAngles5(s,1330,1250,1550,1390,1400,3000) gotoAngles5(s,1330,1250,1550,1390,600,3000)

% Bring arm back up gotoAngles5(s,1330,1250,2330,1390,600,3000) gotoAngles5(s,1330,1250,2330,570,600,3000)

% Clapping gotoAngles5(s,1330,1250,2330,570,1850,300) gotoAngles5(s,1330,1250,2330,570,600,300) gotoAngles5(s,1330,1250,2330,570,1850,300) gotoAngles5(s,1330,1250,2330,570,600,300) gotoAngles5(s,1330,1250,2330,570,1850,300) gotoAngles5(s,1330,1250,2330,570,600,300) gotoAngles5(s,1330,1250,2330,570,1850,300) gotoAngles5(s,1330,1250,2330,570,600,300) gotoAngles5(s,1330,1250,2330,570,1850,300) gotoAngles5(s,1330,1250,2330,570,600,300) gotoAngles5(s,1330,1250,2330,570,1850,300) gotoAngles5(s,1330,1250,2330,570,600,300)

Difficulties

• Construction:

- Stability. Keeping the arm level.

• Programming:

- Calibrating five zero values. - Coordinating the motors to result in smooth motion.

Video Examples of Finished Arm

Link to Video: Robot Arm Demo

Link to Video: Robot Arm Gripper Demo

Link to Video: Robot Arm Joint 1 Demo

Link to Video: Robot Arm Joint 2 Demo

Link to Video: Robot Arm Vertical Joint Demo

Link to Video: Robot Arm Wrist Demo