Robot Control Through 3-D Application ET494: Senior Design Group Members: Cory Oliphant Joseph Regard Cleland Montecillo Spring 2017 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 Robotic Servo arm Webcam Power Supply

Design Goals 3-D application Webserver running from microcontroller Servo arm control Live streaming of servo arm position

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

Live Streaming In order to remotely test the servo arm, it has to be viewed while interacting with its control A webcam faces the arm and streams the video to the webpage The webpage grabs a screen capture from the camera every millisecond then places it on the webpage over the previous screen capture Stream is choppier, but requires no browser addons on user end Ethernet enabled Foscam

3-D Application Unity- graphical engine usually used in the creation of video games Excels at rendering simulations Possesses many tools to monitor user input Keyboard/mouse inputs Mouse icon tracking Any applications created are easily built as HTML webGL applications

3-D Application cont. Each limb of the arm is movable via clicks & drags Compares current mouse position vs previous to determine rotational movement Certain parts of the model are difficult to drag (claw, linear actuator) Buttons were created to toggle position for these motors

3-D Application cont. Once a part is interacted with an integer number representing the degree of movement & the servo address is posted to a php form on the pi

Raspberry pi Python script Servos Controlled using PWM signal Changes in Duty Cycle Servo Mapping Map duty cycle to degree range (0-360) OS system recall Reads from text file

Flow of Information The unity application posts data to a form on the pi The form writes the data to a text file A python script on the pi reads the text file & moves appropriate servo

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

Final Result selupiarm.ddns.net