1. Robot Control Through 3-D Application
ET493: Senior Design 1
Group Members:
Cory Oliphant
Joseph Regard
Cleland Montecillo
Fall 2016
Advisor:
Dr. Mohammad Saadeh
Instructor:
Dr. Cris Koutsougeras

2. 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.

3. Objective Interactive 3-D application Robotic Arm Webserver
Webcam Streaming

4. Materials
Raspberry Pi
Intel Joule
Robotic Servo arm
Webcam

5. Design 3-D application Webserver running from microcontroller
Robot Control
Live streaming of Robot Arm Position

6. Microcontrollers Raspberry Pi: Intel Joule:
Plenty of previous projects
Error and Troubleshooting information
GUI
Recently Released
Greater processing power
Flexible OS

7. Installed Apache web server
Created web page writing to a file
Call python code to move servo

8. Robotic Arm Prototype we were using Webpage changes
Servo Degree inputs
Desired Output
Arm points to a specified point

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

10. 3-D Application
There are multiple ways to create a 3d graphical application that can be hosted on a server
The method chosen will reflect the performance of the hardware of the final product
The Intel Joule gives the capacity to use the Unity engine, allowing for a more polished product
The Raspberry pi can also handle the created Unity application, with some difficulties

11. 3-D Application

12. Live Streaming
In order to remotely test the servo arm, it has to be viewed while interacting with its control
A webcam will be facing the arm and streaming the video to the webpage hosting the arm’s control
Use an Iframe to view the stream from a ip enabled camera hosting its own server for remote access
Ethernet enabled Foscam

13. Deliverables: Name Start Finish % Complete
Set up Raspberry Pi webserver with motor control functionality (Cory & Joseph)
9/23/16
10/6/16
100%
Troubleshooting of Intel Joule
(Cleland)
10/10/16
11/20/16
Set up servo control and webserver
(Cory)
11/31/16
50%
Make 3-D model of the arm using Maya
(Joseph)
1/25/17
Create 3d application
(Joseph & Cleland)
2/25/17
20%
Integrate 3-D application onto
webserver (Cory & Joseph)
3/25/17
80%
Build arm (Everyone)
3/31/17
Set up Webcam (Cleland)
4/15/17 0%
Integration of all components
(Everyone)
5/1/16