Robotic Arm Deux

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)