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

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

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

Functional Description Input Input Desired position of selected motor Desired position of selected motor Output Output Motor movement Motor movement

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

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

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

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

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

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

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 Robot Arm Servo Motors Motor Lines 12 V Power Motor Movement Servo Status

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

Expected Time Chart TIMEACTIVITY Week 1 Researching the Rhino XR-2 Robotic Arm Week 2 Researching the Arm Operation and available Power Supplies Week 3 Coding the User Interface Week 4 Troubleshooting / Testing the User Interface Week 5 Beginning Programming of VHDL / Proposal Preparation Week 6 VHDL Simulation Week 7 Hardware Implementation of VHDL Week 8 Testing the Robotic Arm / Troubleshooting Week 9 Full System Testing / Start researching VLSI Week 10 Begin VLSI Cell Development Week 11 Continue Cell Development Week 12 PSPICE testing of Cells Week 13 Combining Cells and Troubleshooting / PSPICE testing Week 14 Readying chip for fabrication / order Week 15 Testing of VLSI chip Week 16 Investigation of VLSI chip for high volume production Week 17 Misc. Troubleshooting Week 18 Prepare for Final Report and Presentation