RhinoArm - web.cecs.pdx.eduweb.cecs.pdx.edu/~mperkows/CLASS_479/PSUBOT2/4... · Friday, December...
Transcript of RhinoArm - web.cecs.pdx.eduweb.cecs.pdx.edu/~mperkows/CLASS_479/PSUBOT2/4... · Friday, December...
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RhinoArmJeff Caley
Friday, December 10, 2010
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XR-3 Robotic ArmFriday, December 10, 2010
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The System
Robot Arm
Controller
Computer
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Robot Arm6 motors
5 AxesMotor "F" Body Rotation - 350 degrees Motor "E" Shoulder Rotation - 210 degrees Motor "D" Elbow Rotation - 265 degrees Motor "C" Wrist Rotation - 310 degrees Motor "B" Gripper Rotation - +/- 7
C - .0793 degrees
D - .1145 degrees
E - .1145 degrees
F - .1374 degrees
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Goal
Talk to Robot
C#
Inverse Kinematics Problem
A* Search
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Tree ExpandStart
Joint Positions A,B,C,DA OpenList = A
ClosedList = Null
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Tree ExpandStart
Joint Positions A,B,C,D
Joint Positions A+1,B,C,D
Joint Positions A-1,B,C,D
Joint Positions A,B+1,C,D
Joint Positions A,B-1,C,D
Joint Positions A,B,C+1,D
Joint Positions A,B,C-1,D
Joint Positions A,B,C,D-1
Joint Positions A,B,C,D+1
A
B
CD
E
F
GH
I
OpenList = B,C,D,E,F,G,H,IClosedList = ACost
Estimated Cost to Goal
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Straight Line Path
Heuristic
Goal
Estimated Distance
RobotCost
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HeuristicNot Really A*
Estimated Distance(A) - Estimated Distance(A-Child)
Average
Goal
Estimated Distance
RobotCost
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Robot ControlSerial Communication
ASCII commands
Optical Motor Control
“C1\r”C - .0793 degrees
D - .1145 degrees
E - .1145 degrees
F - .1374 degrees
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Issues
Heuristic
Communicating via Serial Port
Unity to Serial
Robot HOME
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Serial Communication
9-25 Pin Adapter
25-25 Pin Null Modem Cable
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Unity to Serial
Unity can’t talk to Serial
Export to XML
Input and Run in Separate Program
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Robot HOME
Microswitches
Register shift
“I\r” returns #
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DemoFriday, December 10, 2010
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The End Questions?
Friday, December 10, 2010