Robot Control Through 3-D Application ET493: Senior Design 1 Group Members: Cory Oliphant Joseph Regard Cleland Montecillo Fall 2016 Advisor: Dr. Mohammad Saadeh Instructor: Dr. Cris Koutsougeras

Introduction Robotic arms are in widespread use throughout multiple industries. One downside to the use of these automation tools is the requirement of a fairly skilled individual with a competent understanding of coding in order to give the arm instructions.

Objective Interactive 3-D application Robotic Arm Webserver Webcam Streaming

Materials Raspberry Pi Intel Joule Robotic Servo arm Webcam

Design 3-D application Webserver running from microcontroller Robot Control Live streaming of Robot Arm Position

Microcontrollers Raspberry Pi: Intel Joule: Plenty of previous projects Error and Troubleshooting information GUI Recently Released Greater processing power Flexible OS

Installed Apache web server Created web page writing to a file Call python code to move servo

Robotic Arm Prototype we were using Webpage changes Servo Degree inputs Desired Output Arm points to a specified point

Robotic Arm Selective Compliance Assembly Robot Arm (SCARA) 3 Servos 1 Linear Actuator

3-D Application There are multiple ways to create a 3d graphical application that can be hosted on a server The method chosen will reflect the performance of the hardware of the final product The Intel Joule gives the capacity to use the Unity engine, allowing for a more polished product The Raspberry pi can also handle the created Unity application, with some difficulties

3-D Application

Live Streaming In order to remotely test the servo arm, it has to be viewed while interacting with its control A webcam will be facing the arm and streaming the video to the webpage hosting the arm’s control Use an Iframe to view the stream from a ip enabled camera hosting its own server for remote access Ethernet enabled Foscam

Deliverables: Name Start Finish % Complete Set up Raspberry Pi webserver with motor control functionality (Cory & Joseph) 9/23/16 10/6/16 100% Troubleshooting of Intel Joule (Cleland) 10/10/16 11/20/16   Set up servo control and webserver (Cory) 11/31/16 50% Make 3-D model of the arm using Maya (Joseph) 1/25/17 Create 3d application (Joseph & Cleland) 2/25/17 20% Integrate 3-D application onto webserver (Cory & Joseph) 3/25/17 80% Build arm (Everyone) 3/31/17 Set up Webcam (Cleland) 4/15/17 0% Integration of all components (Everyone) 5/1/16