Transcript Project Overview
Project Overview- Strong Arm
ECEN 4160, Spring 2005 Thaine Hock Matt Corne Sammit Adhya Luz Quiñónez
Project Goals
To design and build the controlling electronics for a six-axis robotic arm that can be controlled through the use of simple finger motions
Arm will allow paraplegics to control robotic arm in three dimensions
Proof of concept of a larger scale device and training system
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LED Detection Grid GPIO
Outline of Approach
PWM Robotic Arm LynxMotion FPGA Xilinx XCS10 GPIO Microcontroller Freescale 68MC12 Serial LCD Optrex CS Signals GPIO Serial Finger Sensors Touch Screen Adhya, Corne, Hock, Quinonez 3
Finger Sensors
Polar Coordinate Control System
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Push Buttons and Limit Switches
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Six directions of control
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Grip and Release
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Finger Diagrams
Thumb button controls grip Limit Switch controls z axis (up) /Button controls z axis (down) Limit Switch controls Φ axis (right) /Button controls Φ axis (left) Limit Switch controls r axis (forward) /Button controls r axis (back) Adhya, Corne, Hock, Quinonez 5
FPGA
Controls the IR Detection Array
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Determine Initial Block Positions
Send Polar Coordinate Position to Micro Controller Using Memory Mapped Registers
Create all needed glue logic for PCB
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FPGA Schematic
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Arm
Lynxmotion Robotic Arm
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Six degrees of freedom
• Base rotation, shoulder, elbow, wrist motion, wrist rotate, and a functional gripper Adhya, Corne, Hock, Quinonez 8
Movement Calculations
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Microcontroller
Compute servo positions
Produce PWM signals to control servos
Process finger sensor data
Process touch screen data
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Microcontroller Schematic
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Bus Design
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Microcontroller and Bus
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PCB Layout
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User Interface
• QVGA LCD with 8-wire resistive touch screen • Interfaces to MPU through dual serial interfaces.
• Able to store images in onboard 16Mbit flash memory.
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IR Sensors
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Parts List
Microcontroller
Microcontroller Micromonitor CMOS SRAM MC9S12DP256BCPV DS1705EPA K6X0808C1D CMOS Flash Memory Am29F010B 16-bit Bus Tranceiver 74AC16245DL 16-bit D Latch 74AVC16373DGGR
FPGA
FPGA PROM XCS10-3PC84C XC18V256
Miscellaneous
AND gate Power Jack SPST Button TTL Clock SM Capacitors Diode Voltage Regulator SN74LS08J RAPC712 PGS125SK43 F1100E T496 1N4008 LM7805CT LM78M33C Adhya, Corne, Hock, Quinonez 17
Startup Software Diagram
Power On FPGA Block Detection Initialize 68MC12, FPGA, And Arm Position Registers Block Pos.
Block Pos.
Depending on how many blocks… Adhya, Corne, Hock, Quinonez 68MC12 Initial Block Positions 68MC12 Main Routine 18
68MC12 Main Routine
Control Software Flow
No Data Poll Finger Sensors Calculate Servo Positions Adhya, Corne, Hock, Quinonez Generate PWM Signals Update User Interface 19
Division of Labor
Finger Sensor
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Thaine FPGA Implementation
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Sammit PCB and Micro controller
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Thaine Robotic Arm Algorithms
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Sammit and Matt IR Sensor and Block Detection
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Luz User Interface
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Matt
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Schedule
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Milestones
Milestone 1:
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User will move robotic arm in one direction using our commands produced by our board.
Milestone 2:
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Robotic arm will be able to pick up and move a block in 3 dimensions. Also, initial user interface with touch screen will be complete.
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Milestone (cont…)
Open Lab:
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User ability to control robotic arm in the relocation of blocks to a predefined location.
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Once task is finished (successful or not), system will locate blocks and reset them to a known operating position.
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User (or helper) will interface with system using a color touch screen.
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Risks and Contingency Plan
Mapping cylindrical coordinates to servo positions may prove difficult
IR sensors not sensitive enough to detect block positions
Fall Back Plan:
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A helper can physically reset system to known operating state
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Cost (BOM)
Actual Expenditures Item
Arm Dev Board Magnetic Sensors PCB rev 1 E-Stores Parts Latch / Tranceiver
Total $807.58
Cost Date
$272.70 1/24/2005 $140.05 1/28/2005 $195.01 1/31/2005 $135.77 2/15/2005 $51.05 2/17/2005 $13.00 2/15/2005
Anticipated Expenditures Item
Arm Dev Board Magnetic Sensors PCB rev 1 E-Stores Parts Latch / Tranceiver
PCB rev 2 Parts (rev 2) PCB rev 3 Parts (rev 3) LEDs/Receivers Touch Screen Miscellaneous
Cost Date
$272.70 1/24/2005 $140.05 1/28/2005 $195.01 1/31/2005 $135.77 2/15/2005 $51.05 2/17/2005 $13.00 2/15/2005
$135.77 3/16/2005 $100.00 3/16/2005 $135.77 3/28/2005 $100.00 3/28/2005 $100.00 3/16/2005 $500.00 3/21/2005 $100.00 4/12/2005
Total $1,979.12
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Economic Aspects and Marketability
Training unit cost is relatively low
Practical arm cost will be very high
Moderate demand
Possibility of medical insurance covering some/most of the cost
Approx 7800 Spinal Cord Injuries each year, many of them could benefit 1 1:http://www.sci-info-pages.com/facts.html
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Sustainability and Manufacturability
Parts widely available for control circuitry.
Can be used with many different arms
Effect of component tolerances are low except for a small handful
Auto-test routines in software
Complies with regulations and is safe to operate (training version)
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Environmental Impact
Pros
Can be mostly lead free
No byproducts Cons
Would need large battery (most likely toxic)
Consumes large amounts of power
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Impact on Society
Full scale device would allow some handicapped persons to be able to perform more physical tasks, qualifying them for more job opportunities
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Questions?
Thanks!