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Senior Project: Robotics. USM 2009. The Project. Four Members 2 ELE, 2 MEE. Two Parts Hardware and Software. Nine Months Sept 08 – May 09. The Team. Advisor Carlos Luck. Hardware JC Westby-Gibson (ELE) Levi Chouinard (MEE). Software Mike Nelson (MEE)

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Presentation Transcript
the project
The Project
  • Four Members

2 ELE, 2 MEE

  • Two Parts

Hardware and Software

  • Nine Months

Sept 08 – May 09

the team
The Team
  • Advisor
    • Carlos Luck
  • Hardware

JC Westby-Gibson (ELE)

Levi Chouinard (MEE)

  • Software
    • Mike Nelson (MEE)
    • Dan Boissonneault (ELE)
deadlines
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)
the problem
The Problem

Staubli, Controller, and Terminal / PC

Scara, Controller, and Terminal / PC

Two clients are required, one for each manipulator, controller, and terminal combination

simple solution
Simple Solution

Control Unit

Java

Control Unit

at a glance
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)

the java model
The Java Model
  • Manipulator
  • Variable Name
  • IO Connection
  • 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
Communication

Control Unit

  • Communication Listener
  • event occured

Send()

addListener()

Connect()

Receive()

  • IO Client
  • connect
  • disconnect
  • send
  • receive
  • add listener

Receive()

Manipulator.send()

Manipulator.send()

adept program
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
Adept Program (cont)

Control Unit

“move”

“pick”

“reset”