Difference between revisions of "IKArm"

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Welcome to the '''[http://www.robojackets.org/ Robojackets]''' Inverse Kinematic Arm wiki!  
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Welcome to the '''[http://www.robojackets.org/ RoboJackets]''' Inverse Kinematic Arm wiki!
  
==Description==
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== Description ==
The Inverse Kinematic Arm project is an independent research endeavor that isn't affiliated with a robotics competition.  The goad of the project is to explore control algorithms for implementing inverse kinematic control.  This form of control is where the position of the end of the manipulator is controlled directly by giving it coordinates in 3 dimensional space to move to.  The control algorithm is designed to determine what motions all the  joints of the arm need to perform in order to achieve the desired end effector position.
 
  
The project will be conducted using a 3 degree of freedom arm that was taken off of an old bomb disposal robot(bombbot) that was donated to the Robojackets by Dr. Wayne Book. Each joint is controlled independently by Vantec Motor drivers taken from the bombbot. Also, each joint has a potentiometer connected to it for positional sensing. All of the motor drivers and potentiometers are connected to an Atmel AVR development board which serves as an RS-232 adapter for the robot. Currently, the AVR board will connect to the serial port of a computer, which will control the robot using Labview.
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The Inverse Kinematic Arm project is an independent research endeavor that isn't affiliated with a robotics competition. The goal of the project is to explore control algorithms for implementing inverse kinematic control. This form of control is where the position of the end of the manipulator is controlled directly by giving it coordinates in 3 dimensional space to move to. The control algorithm is designed to determine what motions all the joints of the arm need to perform in order to achieve the desired end effector position.
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The project will be conducted using a 3 degree of freedom arm that was taken off of an old bomb disposal robot(bombbot) that was donated to the RoboJackets by Dr. Wayne Book. Each joint is controlled independently by Vantec Motor drivers taken from the bombbot. Also, each joint has a potentiometer connected to it for positional sensing. All of the motor drivers and potentiometers are connected to an Atmel AVR development board which serves as an RS-232 adapter for the robot. Currently, the AVR board will connect to the serial port of a computer, which will control the robot using Labview.
 +
 
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Initially the goal will be to implement forward kinematic control of the robot, which entails independent PID control of each joint and determining the position of the end effector. Then several different inverse kinematic control algorithms including:
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*Velocity controlled IK
 +
*Path Controlled IK
  
Initially the goal will be to implement forward kinematic control of the robot, which entails independent PID control of each joint and determining the position of the end effector.  Then several different inverse kinematic control algorithms including:
 
* Velocity controlled IK
 
* Path Controlled IK
 
 
The last goal of the project will be to implement hybrid control of the arm position in order to achieve multiple objectives simultaneously.
 
The last goal of the project will be to implement hybrid control of the arm position in order to achieve multiple objectives simultaneously.
  
==Meeting Times==
 
IK meetings will tentatively be held Sundays at 2PM and Wednesdays at 5PM
 
* The first meeting will be on Wednesday, Sept 6th at 4PM in the tin building. This is before the new members meeting, so it will be ending around 6PM.
 
  
==Announcements==
 
* 9/26/06 - Current Project progress page has been created [[IK Current Progress| here]].  Also, the Labview VI has been uploaded: [[:Image:IKarm_Labview_VI.zip | Labview VI]]
 
* 9/1/06  Project timeline has been posted [[Project Timeline| here]] and the code for the AVR development board has been uploaded: [[:Image:IKarm_AVR_code.zip| AVR code]]
 
* 8/23/06  IK Arm meetings will resume soon.  Check back for updates
 
  
==Important Items==
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== Announcements ==
* '''[[Project Timeline]]'''
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* '''[[IK Current Progress| Current Progress]]'''
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*9/28/06 - Current progress for this week has been updated [[IK Current Progress|here]].
* AVR code to translate IK motor driver and sensor data to RS-232: [[:Image:IKarm_AVR_code.zip| AVR code]]
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*9/26/06 - Current Project progress page has been created [[IK Current Progress|here]]. Also, the Labview VI has been uploaded: [[:Image:IKarm Labview VI.zip|Labview VI]]
* IK arm Labview VI code: [[:Image:IKarm_Labview_VI.zip| Labview VI]]
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*9/1/06 Project timeline has been posted [[Project Timeline|here]] and the code for the AVR development board has been uploaded: [[:Image:IKarm AVR code.zip|AVR code]]
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*8/23/06 IK Arm meetings will resume soon. Check back for updates
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== Important Items ==
 +
 
 +
*'''[[Project Timeline]]'''
 +
*'''[[IK Current Progress|Current Progress]]'''
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*AVR code to translate IK motor driver and sensor data to RS-232: [[:Image:IKarm AVR code.zip|AVR code]]
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*IK arm Labview VI code: [[:Image:IKarm Labview VI.zip|Labview VI]]
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== System Components ==
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*[[IKarm MCU2CPU|Robot to Computer Interface]]
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*[[IKarm FK|Forward Kinematic control]]
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*[[IKarm IK control|Inverse Kinematic control]]
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*[[IKarm Path Hybrid|Path planning and hybrid control]]
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== Links ==
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*[http://zone.ni.com/devzone/labviewzone.nsf/OpenPage?openagent&lvsection=labviewzone%7C National Instruments Developer zone (Labview coding resources)]
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== Motor Controller Docs ==
  
==System Components==
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Pictures courtesy of Ben Johnson
* [[IKarm MCU2CPU| Robot to Computer Interface]]
 
* [[IKarm FK| Forward Kinematic control]]
 
* [[IKarm IK control| Inverse Kinematic control]]
 
* [[IKarm Path Hybrid| Path planning and hybrid control]]
 
  
==Links==
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[[File:Img 1134.jpg|300px|Img 1134.jpg]][[File:Img 1135.jpg|300px|Img 1135.jpg]]
* [http://zone.ni.com/devzone/labviewzone.nsf/OpenPage?openagent&lvsection=labviewzone| National Instruments Developer zone (Labview coding resources)]
 

Latest revision as of 22:43, 13 June 2018

IKarm.jpg

Welcome to the RoboJackets Inverse Kinematic Arm wiki!

Description

The Inverse Kinematic Arm project is an independent research endeavor that isn't affiliated with a robotics competition. The goal of the project is to explore control algorithms for implementing inverse kinematic control. This form of control is where the position of the end of the manipulator is controlled directly by giving it coordinates in 3 dimensional space to move to. The control algorithm is designed to determine what motions all the joints of the arm need to perform in order to achieve the desired end effector position.

The project will be conducted using a 3 degree of freedom arm that was taken off of an old bomb disposal robot(bombbot) that was donated to the RoboJackets by Dr. Wayne Book. Each joint is controlled independently by Vantec Motor drivers taken from the bombbot. Also, each joint has a potentiometer connected to it for positional sensing. All of the motor drivers and potentiometers are connected to an Atmel AVR development board which serves as an RS-232 adapter for the robot. Currently, the AVR board will connect to the serial port of a computer, which will control the robot using Labview.

Initially the goal will be to implement forward kinematic control of the robot, which entails independent PID control of each joint and determining the position of the end effector. Then several different inverse kinematic control algorithms including:

  • Velocity controlled IK
  • Path Controlled IK

The last goal of the project will be to implement hybrid control of the arm position in order to achieve multiple objectives simultaneously.


Announcements

  • 9/28/06 - Current progress for this week has been updated here.
  • 9/26/06 - Current Project progress page has been created here. Also, the Labview VI has been uploaded: Labview VI
  • 9/1/06 Project timeline has been posted here and the code for the AVR development board has been uploaded: AVR code
  • 8/23/06 IK Arm meetings will resume soon. Check back for updates

Important Items

System Components

Links

Motor Controller Docs

Pictures courtesy of Ben Johnson

Img 1134.jpgImg 1135.jpg