Transcript Robotic Arm Controller

Robotic Arm Controller
A VLSI Implementation
Team: Justin Hamann & Dave McNamara
Advisor: Dr. Vinod Prasad
Organization: Bradley University
General Description
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EMAC user interface to accept user
input
Serial Communication of Position
Based input data
VLSI Robotic Arm Controller
synchronously reads data and moves
arm
Servo Motor Feedback sets error flags
when needed
Previous Work
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Based off the Rhino Mark III robotic
Arm Controller
Uses EMAC board for user interface
rather then PC connection
No additional software required
Positions instead of Direction vectors
Functional Description
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Input
Desired position of selected motor
Output
Motor movement
Subsystem Block Diagram
Micro Controller
Serial Output
Robotic Arm Controller
Clock
Motor Lines
Controller Feedback
Robot Arm Servo Motors
Servo status
Error Flags
Controller Subsystem
Motor Lines
Clock
Overall Robotic
Arm Control
System
Motor
Movement
 Position data received serially through six lines from UI.
 Uses synchronous communication with clock from UI
 Sends analog control signal to robot arm
Controller Feedback Subsystem
Servo Status
Motor Lines
Robot Arm
Controller
Feedback
Error Flags
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Servo status compared to expected motor function
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Error flag set and sent to UI
START
Read in data
Is robotic arm
where the
user wants it
to be?
Yes
No
Does user
input
exceed
robotic arm
extension?
Yes
Set ERROR
No
Move arm
No
Error in
movement?
Yes
Micro Controller Subsystem
User Input
Serial Output
Micro Controller
Error Flags
Clock
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Uses keypad to accept user input position for each motor
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Reads error flags from the feedback subsystem
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Send appropriate serial data based on user input to the controller
subsystem
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Generate clock signal to control synchronous communication
START
Init Timer0, KBD, LCD
Scan keypad input
1?
Yes
2?
Yes
No
Convert user input
to binary
Yes
0?
No
No
Save new position
as current
Yes
Display current
position
Yes
Accept new
position
0?
No
3?
Transmit
No
Robot Arm Subsystem
Motor Lines
12 V Power
Robot Arm
Servo Motors
Motor
Movement
Servo
Status
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Requires a 12V high current power supply
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Uses the analog signals sent from the controller subsystem to
drive the servos
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Photo diode, optical transistor, and a pair of optical discs used to
create feedback on servo operation
Equipment List
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Rhino XR-2 Robotic Arm
Programmable Logic Chip
EMAC board
5V two rail low current power supply
2 12V single rail high current power
supplies
VLSI designed chip
Expected Time Chart
TIME
ACTIVITY
Week 1
Researching the Rhino XR-2 Robotic Arm
Week 2
Researching the Arm Operation and available Power Supplies
Week 3
Coding the User Interface
Week 4
Troubleshooting / Testing the User Interface
Week 5
Beginning Programming of VHDL / Proposal Preparation
Week 6
VHDL Simulation
Week 7
Hardware Implementation of VHDL
Week 8
Testing the Robotic Arm / Troubleshooting
Week 9
Full System Testing / Start researching VLSI
Week 10
Begin VLSI Cell Development
Week 11
Continue Cell Development
Week 12
PSPICE testing of Cells
Week 13
Combining Cells and Troubleshooting / PSPICE testing
Week 14
Readying chip for fabrication / order
Week 15
Testing of VLSI chip
Week 16
Investigation of VLSI chip for high volume production
Week 17
Misc. Troubleshooting
Week 18
Prepare for Final Report and Presentation