Motion Controlled Manipulator System (MCMS) Vincent Wong Kevin Wong Jing Xu Kay Sze Hsiu-Yang Tseng Arnaud Martin

Transcription

1 Motion Controlled Manipulator System (MCMS) Vincent Wong Kevin Wong Jing Xu Kay Sze Hsiu-Yang Tseng Arnaud Martin 1

2 Motivation and Background System Overview Project Management Prototype Specifications Business Case Conclusion Acknowledgements 2

3 Motivation and Background 3

4 Motivation Canada Arms in space 4

5 Motivation Excavators up to 1400 HP Industrial Arms- up to 1300kg 5

6 Motivation Linear stage for ICSI Narrow market Micro-scale technology expensive, hard to achieve, and too many Biomedical standards to gallop over 6

7 Agenda Motivation Background 7

8 Agenda Motivation Background Although we are not the first to do this, our success with this project in 1 semester gives us a promising start Practical use: In industrial robotic arms In excavators or construction arms In robotic surgery arms 8

9 System Overview 9

10 Agenda Motivation Background System Overview Goals of our system: Intuitive Control Simplicity Adaptability 10

11 Agenda Motivation Background System Overview Intuitive Control 11

12 Agenda Motivation Background System Overview Simplicity 12

13 Agenda Motivation Background System Overview Adaptability 13

14 Agenda Motivation Background System Overview User-Level Overview 14

15 Agenda Motivation Background System Overview High-Level Block Diagram of MCMS 15

16 Project Management 16

17 Agenda Motivation Background System Project Management Allocated Budgets: Initial estimated budget: $975 Funding and resources: ESSEF: $700 Dr. Marinko Sarunic: Kinect Kevin and Vincent: Arduino boards Our own inventory: power supply, and wires, etc $ remaining from ESSEF funding 17

18 Agenda Motivation Background System Project Management Team Dynamics: First Stage Resourcing Teams setup Software Robotic Arms Micro Controller and Electronics Kevin Jing Steven Kay Arnaud Vincent 18

19 Agenda Motivation Background System Project Management Team Dynamics: Second Stage Implementation Re-integration Software Robotic Arms Micro Controller and Electronics Kevin Jing Steven Kay Arnaud Vincent 19

20 Team Dynamics: Second Stage Implementation Re-integration Agenda Motivation Background System Software Project Management Micro Controller and Electronics Jing Kevin Arnaud Vincent Steven Kay 20

21 Agenda Motivation Background System Project Management Team Dynamics: Third Stage Integration Jing Arnaud Steven Vincent Kevin Kay 21

22 Agenda Motivation Background System Project Management Proposed Timeline 9/1 9/8 9/15 9/22 9/29 10/6 10/1310/2010/27 11/3 11/1011/1711/24 12/1 12/8 12/1512/2212/29 Discuss project ideas Order/Purchase all parts Define Func Spec Hack and Program Kinect Implement Image Modify Mechanics for Integrate Kinect and Test and Debug Research 22

23 Agenda Motivation Background System Project Management Discuss project ideas Order/Purchase all parts Define Func Spec Kinect Communication Robotic Integration and Integrate Kinect and Implement Image Modify Mechanics for Test and Debug Black Box Assembly and Research Actual Timeline 9/1 9/8 9/15 9/22 9/29 10/6 10/1310/2010/27 11/3 11/1011/1711/24 12/1 12/8 12/1512/2212/29 23

24 Prototype Implementation: Software 24

25 Prototype Specs Software High Level Diagram of Software Design Main OpenNI OpenGL Serial COM Kinect Frame Buffer Arduino Menu User Tracking Visual Feedback 25

26 Prototype Implementation: Robotic arms and Inverse kinematics 26

27 Prototype Specs Robotic arm - DC motor arm Low cost Easy to implement No feedback system 27

28 Prototype Specs Robotic arm - Servo motor arm High cost More complicated signal input Built-in feedback system 28

29 Prototype Specs Inverse kinematics - 3 degrees of freedom Determine joint angles using end point calculations z.(x, y, z) 2 y 1 Θ1 Θ2 ( x 2 + y 2 + z 2 ) Θr x 29

30 Prototype Specs Inverse kinematics - 4 degrees of freedom Same as 3 degrees of freedom Easy algorithm but more complex calculatioṇ z 2 Θ3 3 (x, y, z) y 1 Θ2 [ (x-nx) 2 + (y-ny) 2 + (z-nz) 2 ] Θ1 ( x 2 + y 2 + z 2 ) Θr x 30

31 Prototype Implementation: Sensors and hardware 31

32 Prototype Specs Kinect Sensor Infrared depth and color sensing Prime sensor chip lines up every frame To determine the desired motion, image processing is taken place in the software 32 30

33 Potentiometers We need to install potentiometers on the DC motor arm as the feedback system These sensors can tell the current locations of each joint Prototype Specs 31

34 Arduino Micro-processor A media to analyze the data of the current position and the desired position To calculate what voltage to send And the duration of the signal we send Prototype Specs 32

35 H-bridge Circuit Only for DC motor arm High current, positive or negative voltage is needed to operate DC motor H-bridge and a Power Supply can provide enough power and correct polarity of voltages It works as a switch Prototype Specs 33

36 Business Case and Potential Clients 36

37 Business Case 37

38 Business Case Improvement of the prototype Partnership with specific clients Creating funds with investors Creation of the product Adaptation for new applications 38

39 Business Case Future Improvements of Prototype Compensation of movement when gripping Distinction between hand and rest of body Feedback: Visual, tactile Adaptation to a more industrial manipulator Safety Joints speed control Wireless control of the manipulator 39

40 Business Case From prototype to product 40

41 Business Case Cost Estimation Components IR sensor + Camera Microprocessor Microcontroller Circuitry Miscellaneous Manufacturing Workload Price $50 $50 $30 $10 $20 $10 - Total $170 41

42 Business Case Potential Clients and Market 42

43 Business Case Product protection Patent on name and logo Intellectual property Industrial Design Software patent Protection of the product 43

44 Conclusion 44

45 Conclusion Learning Experience Every member was able to see the entire project from start to finish Every member was able to experience different engineering sides Robotic is relatively new for every member Every member learned how to communicate with one another and work together to achieve milestones 45

46 Conclusion Summary Current problems with panel joystick and buttons: Non-intuitive Complicated Non-adaptable 46 46

47 Conclusion Intuitive, Simple and Adaptable As far as the customer is concerned, the interface is the product. - Jef Raskin 47 47

48 Acknowledgements We would like to thank : Our professors, Steve Whitmore and Andrew Rawicz, for their teaching and encouragements. The TA s involved: Michelle, Jamal and Ali for their input into our ENSC 305 documents Marinko Sarunic for sponsoring our Kinect sensor ESSS for providing us with funding from the endowment funds 48

49 References 1. Grochow, Keith et al. Style-Based Inverse Kinematics. University of Washington and University of Toronto Borenstein, Gregg. Making Things See: 3D Vision with Kinect, Processing, Adruino, and Makebot. O'Reilly. Media Inc Texas Instrument. SN Quadruple Half-H Driver. November OWI Inc. Robotic Arm Edge. Accessed September 20 th, Lynxmotion. Lynxmotion AL5d Robotic Arm. Accessed October 15 th,

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51 Appendix A: Circuit Layout 51

52 Appendix B: Complete BOM Callout Qty/Kit Part #: Description Unit Cost Subtotal: KINECT 1 N/A Microsoft Kinect IR and $ $ RGB Sensor ROBOT1 1 OWI-535 DC-motor Robotic Arm Kit $68.65 $68.65 ROBOT2 1 LYNX-AL5D Servo-motor Robotic Arm $ $ Kit DBATT 4 N/A D-size Batteries $2.80 $11.20 ARDMIC 3 UNO ATmega328 Based Arduino UNO Microcontrollers $33.60 $ H-BRI 5 SN754410NE Logitech HD Pro Webcam $2.13 $10.67 C920 H-SOC 5 N/A 1x40 Header Socket $0.89 $4.48 H-GLU 1 N/A Hot Glue Gun Sticks $2.24 $2.24 G-GUN 1 N/A Hot Glue Gun $5.60 $5.60 PERFB 3 N/A 81-Row Perf Boards $5.21 $15.63 POT1 1 COM kΩ Rotary Potentiometer $0.95 $0.95 POT T-1-103LF 10kΩ thumbwheel trimpot $0.50 $1.50 PLYWOOD 1 N/A 30cm x 30cm Ply Wood $4.48 $4.48 Total $

53 Appendix C: OWI DC-motor Arm 53

54 Appendix D: Servo-motor Arm 54

55 Appendix E: Inside Kinect 55