1. Robot Control Through 3-D Application
ET494: Senior Design
Group Members:
Cory Oliphant
Joseph Regard
Cleland Montecillo
Spring 2017
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
Robotic Servo arm
Webcam
Power Supply

5. Design Goals 3-D application Webserver running from microcontroller
Servo arm control
Live streaming of servo arm position

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

7. Live Streaming
In order to remotely test the servo arm, it has to be viewed while interacting with its control
A webcam faces the arm and streams the video to the webpage
The webpage grabs a screen capture from the camera every millisecond then places it on the webpage over the previous screen capture
Stream is choppier, but requires no browser addons on user end
Ethernet enabled Foscam

8. 3-D Application
Unity- graphical engine usually used in the creation of video games
Excels at rendering simulations
Possesses many tools to monitor user input
Keyboard/mouse inputs
Mouse icon tracking
Any applications created are easily built as HTML webGL applications

9. 3-D Application cont.
Each limb of the arm is movable via clicks & drags
Compares current mouse position vs previous to determine rotational movement
Certain parts of the model are difficult to drag (claw, linear actuator)
Buttons were created to toggle position for these motors

10. 3-D Application cont.
Once a part is interacted with an integer number representing the degree of movement & the servo address is posted to a php form on the pi

11. Raspberry pi Python script
Servos Controlled using PWM signal
Changes in Duty Cycle
Servo Mapping
Map duty cycle to degree range (0-360)
OS system recall
Reads from text file

12. Flow of Information
The unity application posts data to a form on the pi
The form writes the data to a text file
A python script on the pi reads the text file & moves appropriate servo

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

14. Final Result
selupiarm.ddns.net