DESIGN OF A ROBOT - Robot Arm Control Design Notes | EduRev
: DESIGN OF A ROBOT - Robot Arm Control Design Notes | EduRev
Page 1 OGI-VHDL Course Page 1 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 DESIGN OF A ROBOT • Homework-1 • Designed by Shivoo Koteshwar and Team. Page 2 OGI-VHDL Course Page 1 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 DESIGN OF A ROBOT • Homework-1 • Designed by Shivoo Koteshwar and Team. OGI-VHDL Course Page 2 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 OBJECTIVE To design a robot which loads and unloads an object to the stations depending on the request. The sensors connected to the robot will sense the request and initiate the correct sequence of operation. PROJECT TEAM • Shivoo Koteshwar • Seyda Mohsina • Farjana Ahad • Morsheda Khatun SPECIFICATION The robot under design has 5 degree of movement - • Base movement (A) • Shoulder movement (B) • Arm movement (C) • Wrist Movement (D) • Claw movement (E) Fig 1.1: Classic Picture of the Robot under Design Page 3 OGI-VHDL Course Page 1 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 DESIGN OF A ROBOT • Homework-1 • Designed by Shivoo Koteshwar and Team. OGI-VHDL Course Page 2 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 OBJECTIVE To design a robot which loads and unloads an object to the stations depending on the request. The sensors connected to the robot will sense the request and initiate the correct sequence of operation. PROJECT TEAM • Shivoo Koteshwar • Seyda Mohsina • Farjana Ahad • Morsheda Khatun SPECIFICATION The robot under design has 5 degree of movement - • Base movement (A) • Shoulder movement (B) • Arm movement (C) • Wrist Movement (D) • Claw movement (E) Fig 1.1: Classic Picture of the Robot under Design OGI-VHDL Course Page 3 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 The loading station exists vertically up and keeps loading the Robot after each execution of unloading. The unloading stations are located at either side of the Robot-two on each side. Figures in the subsequent chapters and theory of operations will give more insight to the flow of execution: Fig 1.2: Generalized Picture of the ROBOT holding an object: THEORY OF OPERATION The setup contains two stations in right (S1 and S2) and two stations on left (S3 and S4). There exists one Loading station (L1) at the top, which is basically used for loading object to the arm of the Robot. The sensors in the Robot sense the request made by the stations and unloads the data to the respective station. As defined earlier there are 5 degrees of freedom to the Robot and each has two possible orientations. The control signals to the motor define the movement of these parts. Each of the joints performs 3 actions (Except the claw E) - Stay, Obtuse angle turn and acute angle turn. So two bits are required to represent each of the movement. A B CDE 00 01 10 00 01 10 00 01 10 00 01 10 0 1 S3 A B C D E S4 L1 S1 S2 Page 4 OGI-VHDL Course Page 1 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 DESIGN OF A ROBOT • Homework-1 • Designed by Shivoo Koteshwar and Team. OGI-VHDL Course Page 2 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 OBJECTIVE To design a robot which loads and unloads an object to the stations depending on the request. The sensors connected to the robot will sense the request and initiate the correct sequence of operation. PROJECT TEAM • Shivoo Koteshwar • Seyda Mohsina • Farjana Ahad • Morsheda Khatun SPECIFICATION The robot under design has 5 degree of movement - • Base movement (A) • Shoulder movement (B) • Arm movement (C) • Wrist Movement (D) • Claw movement (E) Fig 1.1: Classic Picture of the Robot under Design OGI-VHDL Course Page 3 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 The loading station exists vertically up and keeps loading the Robot after each execution of unloading. The unloading stations are located at either side of the Robot-two on each side. Figures in the subsequent chapters and theory of operations will give more insight to the flow of execution: Fig 1.2: Generalized Picture of the ROBOT holding an object: THEORY OF OPERATION The setup contains two stations in right (S1 and S2) and two stations on left (S3 and S4). There exists one Loading station (L1) at the top, which is basically used for loading object to the arm of the Robot. The sensors in the Robot sense the request made by the stations and unloads the data to the respective station. As defined earlier there are 5 degrees of freedom to the Robot and each has two possible orientations. The control signals to the motor define the movement of these parts. Each of the joints performs 3 actions (Except the claw E) - Stay, Obtuse angle turn and acute angle turn. So two bits are required to represent each of the movement. A B CDE 00 01 10 00 01 10 00 01 10 00 01 10 0 1 S3 A B C D E S4 L1 S1 S2 OGI-VHDL Course Page 4 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 For the Base A: 00=>Stay (Don’t move) 01 => Turn right by 45 Degrees 10 => Turn left by 45 Degrees For the Shoulder B: 00 => Stay (Don’t move) 01 => Turn down by 45 degrees (Acute angle) 10 => Turn up by 45 degrees (Obtuse angle) For the Arm C: 00 => Stay (Don’t move) 01 => Turn down by 45 degrees (Acute angle) 10 => Turn up by 45 degrees (Obtuse angle) For the Wrist D: 00 => Stay (Don’t move) 01 => Turn down by 90 degrees (Horizontal position- For Loading) 10 => Turn up by 90 degrees (Vertical position - For Unloading) For the Claw E: 0=> Hold 1 => Release Page 5 OGI-VHDL Course Page 1 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 DESIGN OF A ROBOT • Homework-1 • Designed by Shivoo Koteshwar and Team. OGI-VHDL Course Page 2 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 OBJECTIVE To design a robot which loads and unloads an object to the stations depending on the request. The sensors connected to the robot will sense the request and initiate the correct sequence of operation. PROJECT TEAM • Shivoo Koteshwar • Seyda Mohsina • Farjana Ahad • Morsheda Khatun SPECIFICATION The robot under design has 5 degree of movement - • Base movement (A) • Shoulder movement (B) • Arm movement (C) • Wrist Movement (D) • Claw movement (E) Fig 1.1: Classic Picture of the Robot under Design OGI-VHDL Course Page 3 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 The loading station exists vertically up and keeps loading the Robot after each execution of unloading. The unloading stations are located at either side of the Robot-two on each side. Figures in the subsequent chapters and theory of operations will give more insight to the flow of execution: Fig 1.2: Generalized Picture of the ROBOT holding an object: THEORY OF OPERATION The setup contains two stations in right (S1 and S2) and two stations on left (S3 and S4). There exists one Loading station (L1) at the top, which is basically used for loading object to the arm of the Robot. The sensors in the Robot sense the request made by the stations and unloads the data to the respective station. As defined earlier there are 5 degrees of freedom to the Robot and each has two possible orientations. The control signals to the motor define the movement of these parts. Each of the joints performs 3 actions (Except the claw E) - Stay, Obtuse angle turn and acute angle turn. So two bits are required to represent each of the movement. A B CDE 00 01 10 00 01 10 00 01 10 00 01 10 0 1 S3 A B C D E S4 L1 S1 S2 OGI-VHDL Course Page 4 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 For the Base A: 00=>Stay (Don’t move) 01 => Turn right by 45 Degrees 10 => Turn left by 45 Degrees For the Shoulder B: 00 => Stay (Don’t move) 01 => Turn down by 45 degrees (Acute angle) 10 => Turn up by 45 degrees (Obtuse angle) For the Arm C: 00 => Stay (Don’t move) 01 => Turn down by 45 degrees (Acute angle) 10 => Turn up by 45 degrees (Obtuse angle) For the Wrist D: 00 => Stay (Don’t move) 01 => Turn down by 90 degrees (Horizontal position- For Loading) 10 => Turn up by 90 degrees (Vertical position - For Unloading) For the Claw E: 0=> Hold 1 => Release OGI-VHDL Course Page 5 ROBOT Design ______________________________________________________________________________________ ______________________________________________________________________________________ OCATE Confidential 04/21/00 - Homework 1 1. Loading Sequence: 00 00 00 00 1 - Initial State 00 00 00 01 1 - Change the wrist D to horizontal position for loading. 00 00 00 00 0 - Once in horizontal pos., load and close Claw E. 00 00 00 10 0 - Change the wrist D to vertical position for unloading 00 00 00 00 0 Timing Requirement: As it takes some time for loading, the robot waits 1 clock cycle more before it closes the claw. (3 step in the Load sequence above) Fig 1.3: Initial State of the ROBOT just before Load sequence: B D C A ERead More
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