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ECE 477 Final Presentation Team 17  Spring 2014

ECE 477 Final Presentation Team 17  Spring 2014. Lingyun Li Bowen Wang Jan Guzman Jian Sun. Outline. Project overview Block diagram Design challenges Individual contributions Project demonstration Questions / discussion. Project Overview.

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ECE 477 Final Presentation Team 17  Spring 2014

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  1. ECE 477 Final Presentation Team 17  Spring 2014 Lingyun Li Bowen Wang Jan Guzman Jian Sun

  2. Outline • Project overview • Block diagram • Design challenges • Individual contributions • Project demonstration • Questions / discussion

  3. Project Overview • Robotic arm interfaced with Microsoft Kinect sensor • Four servo motors on robotic arm • Windows application to collect sensor data, perform calculations, and transmit output • Bluetooth connection to transmit joint angles • Record and replay set of movements

  4. Block Diagram

  5. Design Challenges • Overheating issues when more than three servo motors in use • Microsoft SDK cannot detect open or closed hand in a C++ application • Unstable coordinates received from Kinect lead to inaccurate joint angles • Updating PWM in the short period of time • MCU interrupt handling • Memory Mode

  6. Individual Contributions • Team Leader – Lingyun Li • Team Member 2 – Jan Guzman • Team Member 3 – Jian Sun • Team Member 4 – Bowen Wang

  7. Team Leader – Lingyun Li • Organized team meeting and set up the project milestone • Parts Selection • Assist in Parts Prototyping • Create component package and symbol in Eagle library • Design the primarily Schematic and finalize it • Design the PCB layout and finalize it • Soldering and testing PCB • Helping design the Robotic Arm threshold

  8. Member 2 – Jan Guzman • Kinect interfacing application development • C++ using Visual Studio • Microsoft Kinect SDK v1.8 • Initialize/deinitialize Kinect sensor • Collect joint coordinates from sensor • Calculate necessary joint angles • Create/close Bluetooth connection • Transmit string containing calculated angles

  9. Member 3 – Jian Sun • Assemble the Robotic Arm • Parts prototyping • Embedded System design • MCU programming: -Module initialization -PWM controlling -Interrupt handling and debugging -Calibration

  10. Member 4 – Bowen Wang • Parts prototyping • Software development • Interfacing • Threshold set up for arm movement • Robotic arm stabilization programming • Design and implement Memory mode • Testing and debugging • Help with packaging

  11. Project Demonstration • An ability to capture the movement angles of a user’s arm from the Kinect • An ability to display real time robotic arm angles on LCD • An ability to transmit the movement signal from PC to microcontroller via Bluetooth • An ability for the robotic arm to mimic real-time three-dimensional movement for the user’s arm • An ability to record and store preset movements within the microcontroller for future playback https://www.youtube.com/watch?v=5m74AB6s_tM

  12. Questions / Discussion

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