ET494 Senior Design Group Members Cory Oliphant Joseph Regard Cleland Montecillo Spring 2017 Advisor Dr Mohammad Saadeh Instructor Dr Cris Koutsougeras Introduction Robotic arms are in widespread use throughout multiple industries ID: 612031
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Slide1
Robot Control Through 3-D Application
ET494: Senior DesignGroup Members:Cory OliphantJoseph RegardCleland Montecillo
Spring 2017
Advisor:
Dr. Mohammad
Saadeh
Instructor:
Dr.
Cris
KoutsougerasSlide2
Introduction
Robotic arms are in widespread use throughout multiple industries.One downside to the use of these automation tools is the requirement of a fairly skilled individual with a competent understanding of coding in order to give the arm instructions.Slide3
Objective
Interactive 3-D applicationRobotic ArmWebserverWebcam StreamingSlide4
Materials
Raspberry PiRobotic Servo armWebcamPower SupplySlide5
Design Goals
3-D applicationWebserver running from microcontrollerServo arm controlLive streaming of servo arm p
osition Slide6
Robotic Arm
Selective Compliance Assembly Robot Arm (SCARA)3 Servos1 Linear ActuatorSlide7
Live Streaming
In order to remotely test the servo arm, it has to be viewed while interacting with its controlA webcam faces the arm and streams the video to the webpage The webpage grabs a screen capture from the camera every millisecond then places it on the webpage over the previous screen captureStream is choppier, but requires no browser addons
on user end
Ethernet enabled
FoscamSlide8
3-D Application
Unity- graphical engine usually used in the creation of video gamesExcels at rendering simulations Possesses many tools to monitor user inputKeyboard/mouse inputsMouse icon tracking
Any applications created are easily built as HTML
webGL
applicationsSlide9
3-D Application cont.
Each limb of the arm is movable via clicks & drags
Compares current mouse position vs previous to determine rotational movement
Certain parts of the model are difficult to drag (claw, linear actuator)
Buttons were created to toggle position for these
motorsSlide10
3-D Application cont.
Once a part is interacted with an integer number representing the degree of movement & the servo address is posted to a
php
form on the piSlide11
Raspberry pi Python script
Servos Controlled using PWM signalChanges in Duty CycleServo MappingMap duty cycle to degree range (0-360) OS system recall
Reads from text file Slide12
Flow of Information
The unity application posts data to a form on the piThe form writes the data to a text fileA python script on the pi reads the text file & moves appropriate servoSlide13
Deliverables:
Name
Start
Finish
% Complete
Set up Raspberry Pi webserver with motor control
functionality (Cory & Joseph)
9/23/16
10/6/16
100%
Set up servo control and
webserver
(Cory)
11/20/16
11/31/16
100%
Make 3-D model of the arm using
Maya
(Joseph)
11/20/16
1/25/17
100%
Create
3d application
(Joseph
& Cleland)
1/25/17
2/25/17
100%
Integrate 3-D application onto
webserver
(Cory & Joseph)
2/25/17
3/25/17
100%
Build
arm (Everyone)
3/25/17
3/31/17
100%
Set up Webcam
(Cleland)
3/31/17
4/15/17
100
%
Integration of all
components
(Everyone)
4/15/17
5/1/16
100
%Slide14
Final Result
selupiarm.ddns.net