Download - Senior Project: Robotics
Senior Project: RoboticsUSM 2009
The Project
• Four Members 2 ELE, 2 MEE
• Two PartsHardware and Software
• Nine Months Sept 08 – May 09
The Team
• HardwareJC Westby-Gibson (ELE)Levi Chouinard (MEE)
• AdvisorCarlos Luck
• SoftwareMike Nelson (MEE)Dan Boissonneault (ELE)
Deadlines• Progress Report (end of semester 1)
• EGN 301 Presentation (today)
• National Engineering Week (next Sat.)
• Thinking Matters (April 19th)
• Final Report / Presentation (final day)
Software
The ProblemStaubli, Controller, and Terminal / PC
Scara, Controller, and Terminal / PC
Two clients are required, one for each manipulator, controller, and terminal combination
Java
Simple Solution
Control Unit
Control Unit
At a Glance• Interacts with the controllers via serial cables*
• Controllers have a preloaded receiving program
• Allows manipulators to be accessed through dot ops ( robot1.move)
• Allows manipulators to be grouped, making identical calls to multiple manipulators very easy.
* Interaction through the network is possible, but would require some hardware replacement (030 to 040 processor on the Staubli)
Manipulator• Variable Name• IO Connection
The Java Model
Manipulator Group
• Quick access to all manipulators within
IO Client• Connect to controller• Disconnect from con. • Send byte array• Receive byte array
Communication Listener
• What and from whom?
Communication
IO Client• connect• disconnect• send• receive
• add listener
Control Unit
Send()Connect()
Receive()
Receive()
addListener()
Communication Listener
• event occured
Manipulator.send() Manipulator.send()
Adept Program• Simple string comparisons choose a
program to run.
• Looks for data on the serial port, executes on that data then returns to the serial port.
Adept Program (cont)
“reset”
“pick”
“move”
Control Unit
Hardware
Cage Disassembly
Frame construction
Table top construction
Pneumatics and Control Wiring for Scara and Tracks
Universal End Effector Modifications and the
Creation of Interactive Objects