1. Josh Chao Francis Fernandes Denny Lie Jackson Tanis March 9 th 2009 Georgia Institute of Technology College of Engineering School of Electrical and Computer Engineering

2. WHATWHY WHOCOST

3. Robot Inspection Controller Preparation System Interface Communication Implementation Bench Testing Robot Reassembly: Motors and Wires installation Set default joint positions Controller Programming Movements Testing Position Readjustments

4. V I Code V Robot PC PLC Motor Drivers Motors Encoder Potentiometer

5. Forward Kinematics Inverse Kinematics Joint Space Configuration Space

6. J1-Waist(320˚) J2-Shoulder(250˚) J3-Elbow(270 ˚) J5-Wrist Bend(200˚) J6-Flange(532˚) J4-Wrist Rotation(300˚)

7. PLCMotor Wall Outlet Motor Driver

8. Motor Brake Potentiometer Encoder Shield Others Empty Index

9. Power Supply Motion Control Module Ethernet Module Processing Unit DC Input Module DC Output Module Analog I/O Module

10. Limiting Switch Home Position Calibration Angular Position Tracking Time: Last week of the semester Location: Room 113 in Van Leer

11. Determining motor specifications Determining motor specifications Identifying use of pins for the connector cable Identifying use of pins for the connector cable Absence of built-in limit switches Absence of built-in limit switches Testing motors Testing motors Motors 3 and 4 are unusable Motors 3 and 4 are unusable Need for new motor drivers Need for new motor drivers Need for CompactLogix L45 Need for CompactLogix L45 Understanding PLC interface Understanding PLC interface Programming using ladder logic Programming using ladder logic

12. TaskFinish Date Motor Testing03/04/09 Delivery of Motors and Drivers03/16/09 Build New Wire System03/16/09 Bench Setup for Motor Testing03/30/09 Study Ladder Logic03/16/09 Code Implementation03/30/09 Interface all Components04/17/09 Perform Final Test04/24/09

13. ItemDescriptionRetail ValueActual Value Robotic ArmPUMA Robot 560 Series$5,000FREE 150 W Motors (1)Unimation Original Parts$600 30 W Motors (1)Unimation Original Parts$350 Servo Drives (6)TA115$4,200 PLC ControllerRockwell CompactLogix L43$1,816FREE SoftwareRSLogix 5000$571FREE LaptopDell D600 P-M 1.4GHz$240FREE Miscellaneous Tools, Wires, Connectors, Switches, Electrical Components$100FREE Labor600 hours x $50 / hour$30,000FREE Total $42,877$5,150

14. All motors have been removed and tested Motor drivers and motors have been purchased Learning ladder logic using demo kit Researching to use a power transistor Learning to use the PLC

15. TEAM YELLOW PUMA TEAM