projects:g3:start
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| What sets our point cloud block apart from the rest is that it is ready to go right out of the box. It uses a serial interface to transmit 3D maps. The brain and all internal processes are hidden out of sight and out of mind…so you can focus on your project. \\ | What sets our point cloud block apart from the rest is that it is ready to go right out of the box. It uses a serial interface to transmit 3D maps. The brain and all internal processes are hidden out of sight and out of mind…so you can focus on your project. \\ | ||
| We are happy to announce that we have achieved our goals. The point cloud system is able to obtain a point cloud, process it, and send it via serial. | We are happy to announce that we have achieved our goals. The point cloud system is able to obtain a point cloud, process it, and send it via serial. | ||
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| + | A flow chart of our VeeCloud system is shown below: | ||
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| + | {{http:// | ||
| === Inverse Kinematics and Movement === | === Inverse Kinematics and Movement === | ||
| - | This specific subsystem deals with planning out the motion of the arm not only to make the arm reach its desired destination but also to make sure that the arm does not find itself in compromising situations whereby its movement are going to be hindered. \\ | + | This specific subsystem deals with planning out the motion of the arm not only to make the arm reach its desired destination but also to make sure that the arm does not find itself in compromising situations whereby its movement are going to be hindered. |
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| + | {{http:// | ||
| + | \\ | ||
| Any robotic platform that requires any form of automated response to a change in its environment will have to have an inverse kinematic system. The challenge posed by our current robotic arm is not only that due to the amount of links it has, there are several configurations to take into account but also since it is a modular robot, at least a significant amount of models have to be considered for any given amount of modules connected. Therefore there is going to be 2 links and 3 links configuration and using the encoders available, we would therefore be able to determine which configuration the arm is in and the arm will know which inverse kinematic set to use. Also collision detection is another aspect being worked on currently and progress is being made when dealing with motion of the arm within the range of the arm itself since there is a region close to the origin whereby the arm cannot reach. Such an example being tackled is when the arm gets too close to the origin of the coordinate frame. In which case points which would then be going through a region inaccessible to the arm in order to get to one which can be accessed, the points whose value are imaginaries are then made to go through the same motion except on the surface of an artificial sphere modelled to make sure to get around this problem. \\ | Any robotic platform that requires any form of automated response to a change in its environment will have to have an inverse kinematic system. The challenge posed by our current robotic arm is not only that due to the amount of links it has, there are several configurations to take into account but also since it is a modular robot, at least a significant amount of models have to be considered for any given amount of modules connected. Therefore there is going to be 2 links and 3 links configuration and using the encoders available, we would therefore be able to determine which configuration the arm is in and the arm will know which inverse kinematic set to use. Also collision detection is another aspect being worked on currently and progress is being made when dealing with motion of the arm within the range of the arm itself since there is a region close to the origin whereby the arm cannot reach. Such an example being tackled is when the arm gets too close to the origin of the coordinate frame. In which case points which would then be going through a region inaccessible to the arm in order to get to one which can be accessed, the points whose value are imaginaries are then made to go through the same motion except on the surface of an artificial sphere modelled to make sure to get around this problem. \\ | ||
| If we switch the whole frame into a spherical coordinate system, the end effector would go through the same azimuth and zenith angle though the radius in question would change and match that of an artificially created sphere. \\ | If we switch the whole frame into a spherical coordinate system, the end effector would go through the same azimuth and zenith angle though the radius in question would change and match that of an artificially created sphere. \\ | ||
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| As you can see, the last figure shows the solution to the inverse kinematics. | As you can see, the last figure shows the solution to the inverse kinematics. | ||
| - | === Arm Design and Hardware Integration === | + | === Arm Design and Hardware Integration |
| - | Our robotic arm is different than any other arms in the sense that it has more flexibility due to more number of links. The total length of the arm is 1.3 meter!. Most robotic arms are half of that and contains only two links (3 joints). Our arm offers 6 DOF and uses AX-18 servos for better performance. | + | Our robotic arm is different than any other arms in the sense that it has more flexibility due to more number of links. The total length of the arm is 1.3 meter!. Most robotic arms are half of that and contains only two links (3 joints). Our arm offers 6 DOF and uses AX-18 servos for better performance. |
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| + | {{http:// | ||
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| {{http:// | {{http:// | ||
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| The figure below shows communication between two blocks (the vision module and the voice recognition module) and inverse kinematics calculation. | The figure below shows communication between two blocks (the vision module and the voice recognition module) and inverse kinematics calculation. | ||
projects/g3/start.txt · Last modified: 2014/05/19 03:08 by cse93178