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THE GEORGE WASHINGTON UNIVERSITY School of Engineering and Applied Science Department of Electrical and Computer Engineering. FINAL PRODUCT REVIEW By Syed Al Mohaymen ECE 158 Senior Computer Engineering Project April 20, 2009. Design Features. - PowerPoint PPT Presentation
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THE GEORGE WASHINGTON UNIVERSITY
School of Engineering and Applied ScienceDepartment of Electrical and Computer Engineering
FINAL PRODUCT REVIEWBy
Syed Al Mohaymen
ECE 158Senior Computer Engineering Project
April 20, 2009
Design Features
• Robot arm capable of sorting colored blocks and placing them in color labeled bins
Features include:- Servo controller- Servos- Microcontroller Operations- Blocksorting Program Algorithm
Required Components
Hardware:- Servos- Microcontroller (Parallax Basic Stamp BS2P40)- PSC (Parallax Servo Controller)- Parallax BOE (Board of Education)
Motherboard- Color Sensor (TAOS TCS 230)
Required Components
Software:
- BASIC Stamp Editor 2.4- Parallax Servo Controller Interface (PSCI)- FTDI Driver (for USB connection establishment
between the BOE Motherboard and PC)
Project Overview
Robot Arm
MICROCONTROLLER
MOTHERBOARD COLOR SENSOR
PARALLAX SERVO CONTROLLER
System Connections
Microcontroller Interface with Servo Controller(Level 4)
Interface to MOTHERBOARDPARALLAX BOE
(Level 4)
Interface to Color Sensor(Level 4)
ServosServos
Input and Output Diagram
Hierarchical Decomposition
Robot Arm(Level 1)
Hardware Module(Level 2)
Software Module(Level 2)
HARDWARE MODULE
Hardware Module
(Level 2)
Power(Level 3)
Servo Controller(Level 3)
Microcontroller(Level 3)
User Interface(Level 3)
Servos(Level 3)
Microcontroller MotherboardParallax BOE
(Level 3)
Color Sensor(Level 3)
User Interface
User Interface(Level 3)
Microcontroller Configurations (Level 4)
(Level 4)
Adjusting Servo Motor Controller (Level 4)
Servo ModuleServo Motor Control
(Level 3)
Processor Interface to Servo Control Module(Level 4)
Interface to Servos(Level 5)
Servo to control pivoting arm, i.e. degree of rotation
Servo to control arm extension and contraction
Servo to control the gripper, i.e. the opening/closing of the clamp
Sensor Module
Reference: Internet, Datasheet Catalog, http://www.datasheetcatalog.org/datasheets2/10/103569_1.pdf
Software Module
Software Functionalities
Basic Arm MovementPick Up and Place
ObjectColor Sorting
BASIC Coding
There are three basic code segments (modules) shown below -
• Segment A: Basic Arm Movement• Segment B: Pick Up and Place Object • Segment C: Color Sorting
SEGMENT A: BASIC ARM MOVEMENT
Flowchart of Segment B – Pick Up and Place Object
Start
Get the program and user data from the software
Store arm joints segments in the form of an array in the Parallax BS2P40 EEPROM
Wait for storage of arm joints to be placed in array.
User calls each joint of the arm using IF statements and by applying bitenable = 1
Arm movement is initiated accordingly.
End Process
Start
User downloads correct and debugged
code to microcontroller
1st Section of Code is executed: Take action if right color is found
Red?Green?Blue?
Yellow?
Place colored object directly to appropriate
box
Store Color Values into EEPRROM
Execute 2nd section of code: Test for color of object.
IFRed? Green? Blue?
Yellow? Match color values from EEPROM
Call the same procedure to place
object into appropriate box
Initiate arm joint movement
Place arm and joints back to collecting
position.
End Process
IF no block?
SEGMENT C: COLOR SORTING
TestingSoftware Module:
• Step 1 – Write out code for basic arm movements and arm alignment. Run the code and see if it compiles.
• Step 2 – Incorporate previously written code into
complex “block sorting” code. Note this is the code which controls the robot arm for the required task. Using restricted robot arm basic movements from previous code, test the code and see if it compiles.
Testing (continued)
Color Sensor Module: • Step 1: Place different colored objects in front of
the sensor, vary the reading distance. Use: 5 inches, 8 inches and 10 inches respectively to see if the sensor can produce accurate RGB color values.
• Step 2: Use the GUI software which came with the
TAOS TCS230 color sensor package to read out the appropriate color values and record it.
Quantum VGM Software Used to test color sensor value readings
Reference: Quantum Data, http://www.quantumdata.com/pdf/CS-1Quik.pdf
CIE Color Chart for color matchingReference, Internet, Photonet, http://photo.net/photo/edscott/vis00020.htm
Example: The RGB value of 0.6 and 0.4 represents red.
2nd Software used to test color sensor: TCS3414EVM
Test results
Completed Work
• Completed the entire assembly of the robot arm• Tested all modules• Debugged and tested all code to ensure it is
absolutely error free• Checked robot movement to see if it performs
within given arm joint movement values• Over 1000 lines of coding and debugging• Approximately 840 hours of work
Some Completed Pictures of the Robot Arm
Side View
Close Up View of Color Sensor
Top Level View
Gantt Chart Showing the timeline from initial research to the completion of
Robot Development
Labor Costs Graph
Estimated, Actual & Projected Cumulative Expenditures (in $k)
$0.00
$20.00
$40.00
$60.00
$80.00
$100.00
$120.00
$140.00
0 5 10 15 20 25 30 35
Time From ROC (in Weeks)
$k
Estimated
Projected
Actual
THE END
THANK YOU!