RhinoArm Jeff Caley Friday, December 10, 2010 XR-3 Robotic Arm - PowerPoint PPT Presentation

Jan 26, 2023 •383 likes •559 views

RhinoArm Jeff Caley Friday, December 10, 2010 XR-3 Robotic Arm Friday, December 10, 2010 The System Robot Arm Controller Computer Friday, December 10, 2010 Robot Arm 6 motors 5 Axes Motor "F" Body Rotation - 350 degrees Motor

RhinoArm Jeff Caley Friday, December 10, 2010
XR-3 Robotic Arm Friday, December 10, 2010
The System Robot Arm Controller Computer Friday, December 10, 2010
Robot Arm 6 motors 5 Axes Motor "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 Friday, December 10, 2010
Goal Talk to Robot C# Inverse Kinematics Problem A* Search Friday, December 10, 2010
Tree Expand Start A OpenList = A Joint Positions A,B,C,D ClosedList = Null Friday, December 10, 2010
Tree Expand Start OpenList = B,C,D,E,F,G,H,I A Joint Positions A,B,C,D ClosedList = A Cost B Estimated Cost to Goal I Joint Positions A+1,B,C,D Joint Positions A,B,C,D-1 D F Joint Positions A,B+1,C,D C Joint Positions A,B,C+1,D H Joint Positions A-1,B,C,D Joint Positions A,B,C,D+1 G E Joint Positions A,B,C-1,D Joint Positions A,B-1,C,D Friday, December 10, 2010
Heuristic Straight Line Path Estimated Distance Cost Robot Goal Friday, December 10, 2010
Heuristic Not Really A* Estimated Distance(A) - Estimated Distance(A-Child) Average Estimated Distance Cost Robot Goal Friday, December 10, 2010
Robot Control Serial Communication ASCII commands Optical Motor Control “C1\r” C - .0793 degrees D - .1145 degrees E - .1145 degrees F - .1374 degrees Friday, December 10, 2010
Issues Heuristic Communicating via Serial Port Unity to Serial Robot HOME Friday, December 10, 2010
Serial Communication 9-25 Pin Adapter 25-25 Pin Null Modem Cable Friday, December 10, 2010
Unity to Serial Unity can’t talk to Serial Export to XML Input and Run in Separate Program Friday, December 10, 2010
Robot HOME Microswitches Register shift “I\r” returns # Friday, December 10, 2010
Demo Friday, December 10, 2010
The End Questions? Friday, December 10, 2010

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