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--- projects:g3:start [2014/04/30 03:32] – cse93178
+++ projects:g3:start [2014/05/19 03:08] (current) – cse93178
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 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. The flow chart for this system is shown below:\\
-{{http://i.imgur.com/bLewt6Z.png?700x500|VeeNnverseKinematics}}
+{{http://i.imgur.com/bLewt6Z.png?700x600|VeeNnverseKinematics}}
 \\
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 As you can see, the last figure shows the solution to the inverse kinematics.
-=== Arm Design and Hardware Integration ===
+=== Arm Design and Hardware Integration (Motion Control) ===
-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. The flows diagram of the ICCE system (Motion control) is shown below: \\
+{{http://i.imgur.com/hcRPxt0.png?700x500|ICCE}}
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 {{http://i.imgur.com/1pbuSzL.jpg?700x500|Voice recognition, improved}} \\
 The figure below shows communication between two blocks (the vision module and the voice recognition module) and inverse kinematics calculation.  \\
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 {{http://i.imgur.com/E83MV9D.jpg?700x500| Solved kinematics model}} \\
-In the figure we can see the range of the arm (possible positions that it can reach) for different links. We can see that as we increase the number of links (hence joints) of the arms, the arm can reach more position, meaning it has more flexibility. A superimposed image of the three combinations is also shown on the fourth figure of the above figure. Our robotic arm have more than 3 links. So, our design can reach positions that a 3-linked planar robotic arm can't reach.
+In the figure we can see the range of the arm (possible positions that it can reach) for different links. We can see that as we increase the number of links (hence joints) of the arms, the arm can reach more position, meaning it has more flexibility. A superimposed image of the three combinations is also shown on the fourth figure of the above figure. The figure below shows the two trajectories for the robotic arm with and without pathfinder algorithm. The pathfinding algorithm allows the robot to avoid obstruction in it's way by following a different route.
+{{http://i.imgur.com/olKYBh8.png?700x500|Pathfinding route}} \\
+From the figure we can see that without the pathfinding algorithm, we have a straight path that the robot follows, which might result in a collision with obstacles that lie on that path. With the pathfinding algorithm we are able to detect those obstacles and thus avoid collision.
 The figures below shows the design of our final robotic arm. \\
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 We see this as a possible issue and the way we are going to handle this is by using opaque objects in the environment instead of transparent.
+The figure below shows the point cloud that we were able to construct from the Hokuyo laser sensor. The image shows the 3D map of the room that was scanned and the objects. This point cloud is used in conjunction with the computer vision to get the coordinates of the target in order to interact with it.  \\
+{{http://i.imgur.com/GLTflAR.png?700x500|Point cloud}} \\
 == Old Simulations &  results ==
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 ===== Funding =====
-  - Lassonde School of Engineering ( $1000),
+  * Lassonde School of Engineering ( $1000),
 {{:projects:g1:index.jpg|}}
+  * York University Robotic Society (YURS) (approximately $2500)
+     - Resources for building the arm
+     - Machinery for fabrication of the arm
+     - Sensors and other materials