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