Haptic Integration of IBM Manipulator

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Haptic Integration of IBM Manipulator
Adrian Cuadra, Electrical Engineering Krista
Hirasuna, Electrical Engineering Carol Reiley,
Computer Engineering
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Outline

• Introduction
• Project Goals
• Robot Overview
• Subsystems
• Challenges
• Status

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Uses of Haptic Technology

• Handle fragile/dangerous items
• No limitations to its size
• More control and precision

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Santa Clara Haptics Team

• Six engineers
• First of its kind
• Slated for completion June 2004
• 1982 IBM 7545 arm
• 3000 for project funding
• Student Leadership Fund
• Deans Fund
• IBM Robot Restoration Fund

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Project Goal

• Pick up objects of different texture and be able
  to feel them using haptic feedback.

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Project Objectives

• Build robotic gripper with ability to sense
  applied forces
• Build human interface controller that gives user
  a sense of what the robot is feeling
• Bypass existing controller with a new haptic
  controller
• Integrate all systems into a working haptic device

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Introduction to Robot Control
Arm Control
RoboteQ
IBM Robot
HIC
STK500
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IBM 7545 Gross Movement
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Block Diagram Haptic Loop
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Motor Driver RoboteQ

• High current DC motor driver
• Past motor drivers unsuccessful (Roverwerx)
• New product with great reviews
• Built-in control options
• Pricey

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Motor Driver LMD18200

• Recommended by SCU Professors
• Used in past mechatronics classes
• Low cost (free sample)
• Prototype board created by Pascal Stang
• PWM speed, direction, and EMF brake controls
• Power output as high as 50V 3A continuous, or 6A
  peak

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STK500 / ATMEGA16

• Pros
• Cheaper
• Free Compilers
• Support Libraries
• Cons
• Harder to use
• Not as documented

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Software Objectives

• Implement closed loop control
• Implement gross arm movements
• Data Logging

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Data Flow Control of Arm
Read Value
On up/down
Off left/right
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Gripper/HIC Solution

• Universal for Gripper and HIC
• Linear
• Driven by DC motor

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Gripper/HIC Progress

• CAD drawings completed
• Machining in development
• Completion March 04

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Force Sensor Requirements and Tradeoffs

• Accuracy
• Universality
• Practicality
• Linearity

• Force Sensing Resistors (FSR)
• Strain Gauge
• Gas Pressure Sensors

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FSR Development

• Design 1 Simple Voltage Divider

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FSR Solution

• Wilson Current Mirror
• Linear
• Used for wide load swings
• Define our own range

R
FSR
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FSR Results

• Large Egg (60 grams)
• R 50kO
• Iout 75µA

• Next Step
• Implement

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STK500 / ATMEGA16
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Project Challenges

• Current
• STK500 familiarization
• Theory vs. Realization
• Future
• Integration
• Data logging
• Time

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Current Status

• Design Proposal finished and reviewed
• Prototype of gripper finished
• Materials ordered
• Initial testing completed
• Functional basic control loop

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Timeline
March 10, Force Control
February 26, Outreach Event
April 15, Final Wiring
May 6, Design Review
Debugging Testing
April 1, Gross Arm Control
February 20, Closed Loop Control
February 28, Haptic Position Control
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Conclusions, Questions, Suggestions?