Difference between revisions of "Robot Arm"

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= Software =
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The robot arm was purchased with the intent of being used to create a mechanical turk.
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The code going towards this goal lives in ~ssalbiz/arm, use "git clone ~ssalbiz/arm" to make a copy.
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= Hardware =
 
= Hardware =
 
The arm is a [http://www.lynxmotion.com/c-130-al5d.aspx Lynxmotion AL5D].
 
The arm is a [http://www.lynxmotion.com/c-130-al5d.aspx Lynxmotion AL5D].
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== Servo key and degree of motion ==
 
== Servo key and degree of motion ==
* 0 - ???
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* 0 - Base
* 1 - ???
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* 1 - Shoulder
* 2 - ???
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* 2 - Elbow
* 3 - ???
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* 3 - Wrist
* 4 - ???
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* 4 - Grip
* 5 - ???
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* 5 - Wrist Rotate
   
 
= Purpose =
 
= Purpose =
 
The current purpose of the robot arm is to make an entity that can play chess against a human.
 
The current purpose of the robot arm is to make an entity that can play chess against a human.
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==Status==
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Not being worked on. Need to complete the following:
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* Complete physical modifications to robot arm to allow it to reach all pieces on the board
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* Calibrate arm base mount against chess board squares
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* Make the robot arm code talk to a chess program
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* Make the chess program talk to the chess vision code
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* Make the arm not have terrible things happen when the servos heat up
   
 
= External Links =
 
= External Links =
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* a manual [http://www.lynxmotion.com/images/data/rios106h.pdf]
* a manual
 
 
* j3parker's [http://csclub.uwaterloo.ca/~j3parker/arm.png 3D model of the arm]
 
* j3parker's [http://csclub.uwaterloo.ca/~j3parker/arm.png 3D model of the arm]

Latest revision as of 12:50, 20 September 2013

Software

The robot arm was purchased with the intent of being used to create a mechanical turk. The code going towards this goal lives in ~ssalbiz/arm, use "git clone ~ssalbiz/arm" to make a copy.

Hardware

The arm is a Lynxmotion AL5D.

Operation

Currently the arm is controlled by interfacing directly with /dev/ttySx or /dev/ttyUSBx . The syntax for controlling this is by sending the following string to the board:

#<servo id> P<position> S<speed> T<time>

You can control multiple servos with one command

#<servo id> P<position> S<speed> #<servo id> P<position> S<speed> T<time>

S and T are optional parameters

Key:

  • <servo id> - id of the servo being controlled (includes jaw)
  • <position> - servo rotation position, generally between (500,2500)
  • <speed> - speed of rotation; 100 means 10s to rorate 90°; leaving this off generates fast movement, 400 seems like a "safe" value?

if both speed(s) and time are specified, time is a "minimum" and speed is a "maximum", i.e. the motion will take at minimum T milliseconds, but servoA will move no faster than speed SA


Servo key and degree of motion

  • 0 - Base
  • 1 - Shoulder
  • 2 - Elbow
  • 3 - Wrist
  • 4 - Grip
  • 5 - Wrist Rotate

Purpose

The current purpose of the robot arm is to make an entity that can play chess against a human.

Status

Not being worked on. Need to complete the following:

  • Complete physical modifications to robot arm to allow it to reach all pieces on the board
  • Calibrate arm base mount against chess board squares
  • Make the robot arm code talk to a chess program
  • Make the chess program talk to the chess vision code
  • Make the arm not have terrible things happen when the servos heat up

External Links