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Robotic Arm Controller

Robotic Arm Controller

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Robotic Arm Controller

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  1. Robotic Arm Controller A VLSI Implementation Team: Justin Hamann & Dave McNamara Advisor: Dr. Vinod Prasad Organization: Bradley University

  2. General Description • EMAC user interface to accept user input • Serial Communication of Position Based input data • VLSI Robotic Arm Controller synchronously reads data and moves arm • Servo Motor Feedback sets error flags when needed

  3. Previous Work • Based off the Rhino Mark III robotic Arm Controller • Uses EMAC board for user interface rather then PC connection • No additional software required • Positions instead of Direction vectors

  4. Functional Description • Input Desired position of selected motor • Output Motor movement

  5. Micro Controller • Serial Output • Clock • Robotic Arm Controller • Motor Lines Controller Feedback Error Flags Robot Arm Servo Motors Servo status Subsystem Block Diagram

  6. Motor Lines Clock Motor Movement Overall Robotic Arm Control System Controller Subsystem • Position data received serially through six lines from UI. • Uses synchronous communication with clock from UI • Sends analog control signal to robot arm

  7. Servo Status Motor Lines Error Flags Robot Arm Controller Feedback Controller Feedback Subsystem • Servo status compared to expected motor function • Error flag set and sent to UI

  8. START Read in data Is robotic arm where the user wants it to be? Yes No Does user input exceed robotic arm extension? Yes Set ERROR No Move arm Error in move-ment? No Yes

  9. User Input Error Flags Serial Output Clock Micro Controller Micro Controller Subsystem • Uses keypad to accept user input position for each motor • Reads error flags from the feedback subsystem • Send appropriate serial data based on user input to the controller subsystem • Generate clock signal to control synchronous communication

  10. START Init Timer0, KBD, LCD Scan keypad input 1? 0? Yes Yes Display current position No No 2? 0? Yes Yes Accept new position No No 3? Save new position as current Yes No Convert user input to binary Transmit

  11. Motor Lines 12 V Power Motor Movement Servo Status Robot Arm Servo Motors Robot Arm Subsystem • Requires a 12V high current power supply • Uses the analog signals sent from the controller subsystem to drive the servos • Photo diode, optical transistor, and a pair of optical discs used to create feedback on servo operation

  12. Equipment List • Rhino XR-2 Robotic Arm • Programmable Logic Chip • EMAC board • 5V two rail low current power supply • 2 12V single rail high current power supplies • VLSI designed chip

  13. Expected Time Chart