ReconTech's Blog

This is a blog about our everyday exploits in all aspects of everything. From science, art, computing, engineering, playing badminton to even playing computer games. Just about everything!

  • Home
    Home This is where you can find all the blog posts throughout the site.
  • Categories
    Categories Displays a list of categories from this blog.
  • Tags
    Tags Displays a list of tags that have been used in the blog.
  • Archives
    Archives Contains a list of blog posts that were created previously.
  • Login
    Login Login form
Subscribe to this list via RSS Blog posts tagged in 17 DOF Robot

Posted by on in Robotics Using FPGAs

This blog post describes the analysis and component selection stage of the multi-channel servo controller board design and it is during this stage where, sadly, for most of us it all begins to go wrong.  It is during this process that every datasheet must be read and reread again and again, until every line of text and every curve in a graph is thoroughly understood. It is at this stage that some, out of despair of a looming deadline, decide to fall on their knees, look skywards and utter words of reverence, utter words of importance or just words.  

It is at this stage that others decide it  is time to put on their jeans and T-shirt and lock themselves in their study. Only to emerge  a few days later wearing a robe and sandals. As you will find out in this blog post we chose to put in a few night shifts to resolve the recurring problems in the design and felt justified emerging with our guru's attire. However, we have known some at this stage of the design process to decide that X marks the spot and continuously aim their heads at it, ceremoniously. Entertaining as this method could be, we prefer ours. However, we recommend you should choose the problem solving method that works for you!

Last modified on
0

Posted by on in Robotics Using FPGAs

I have found it difficult completing this blog post this week, let alone doing any programming, as I have just discovered the series "Breaking Bad" on Netflix. Now, what I like about this show is how intelligently the show has been thought out, typical of what any engineering design project should be really. The plot, the cast, the characters have not just been cobbled together, but have been interwoven into an intricate and delicate interlinking pattern of intrigue and suspense that has led to the show's success. "Who would have imagined you breaking bad?"

The design of our 17 DOF robot, like system design in general, should not be anything different. It should consist of well thought out building blocks, which will include mechanical design, digital hardware design and software programming, amongst many other scientific disciplines including physics and electrical engineering. Also, if we do not want our robot to harm anybody we may need to include the discipline of philosophy and maybe incorporate Asimov's laws of robotics too! For now, in this blog post, we will concentrate on the design of a printed circuit board to mainly control the robot's servos.

Last modified on
0

Posted by on in Robotics Using FPGAs

Up till now we have merrily plodded along in the construction and assembly of the 17 DOF robotics kit. However, as we all know projects very rarely have unlimited resources and budgets, unless of course they are being conducted by a superpower trying to prove a point. We are not a FPGA superpower, neither are we trying to prove a point and more importantly our pockets are shallow.

Hence, just like in any discipline, we need a plan even if it is only a half-baked one to maintain focus, mitigate risk and prevent costs from spiralling out of control. So the focus of this blog post is to develop the skeleton of a project plan, which will be fleshed out as we progress in the series. We do things this way, as unfortunately, we do not have the resource to preplan the project in-depth before hand, which is typical of home-brew projects.

Last modified on
0

Posted by on in Robotics Using FPGAs

Hello and welcome to another post in the blog series on using FPGAs in Robotics. So far the series has concentrated on the construction of a 17 DOF robotic kit, which was purchased without any assembly instructions. This kit, when fully constructed, will be central to this series of blog posts and should be controlled using one of Altera's Cyclone family of FPGAs on  a development board or kit. In this blog post I will finish the construction of the lower limbs and add the waist bracket, which will eventually act as our Inertial Frame when the Denavit-Hartenberg parametric representation of articulated joints is considered.

Last modified on
0

Posted by on in Robotics Using FPGAs

In the last installment,  in this category of posts, I produced a 3D CAD drawing of a covering for the screws that protrude out from the footbase. In the blog post before that I introduced the parts of the kit and discussed the assembly of the lower part of the legs. In this installment I will discuss the parts that I have used to assemble the upper parts of the legs.

Firstly, to confirm the CAD drawing produced previously was proceeding along the right track I printed out the CAD drawing and placed the lower assembly build next to it, as can be seen in the image on the left. The result is quite pleasing to see, as it confirms that the dimensions of the CAD model that will eventually be printed on a 3D printer are as expected. This has given me enough confidence know that the 3D model design is progressing along the right path.

Last modified on
Tagged in: 17 DOF Robot FPGA
0