ce123B_FinalReport_1

7/25/2019 ce123B_FinalReport_1

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R A D A

RADA

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2. D ..................................................................................................... 6

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) E .................................................................................................................. 14

3. & ........................................................................................ 17

) O ................................................................................................................... 17) S ...................................................................................................... 18

) L R............................................................................................................ 18

) PCB ........................................................................................................................... 19

4. .......................................................................................................... 19

) O ................................................................................................................... 19

) USART232 ................................................................................................................. 21

) S .................................................................................................................... 22

) Q D ............................................................................................... 24

5. ....................................................................................................................... 26

6. D C ........................................................................................................... 27

) F K .................................................................................................. 27

) D R & H S I ................................................................... 28

) D C ........................................................................................................... 29

) D C .............................................................................................................. 34

A A: B D.......................................................................................... 37

A B: .......................................................................................... 37

A C: ................................................................................. 38A D: B ..................................................................................................... 39

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P1 = PRA


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P2 = D

P98 =

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A A: B D

Appendix B. Denso Control Software

Denso Control (PAC Language)

PROGRAM radr_ttop1takearmchangework 0

DEFPOS targetlocP[0] = CURPOSP[1] = CURPOSLET P2 = (0,0,0,0,0,0)LETF P98 = CURFIGWHILE I0 > 0 'LOOP INFWEND

while i0


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if i0 = 2 then 'PATHLET P5 = CURPOSLETF P1 = CURFIGLETP targetloc = PVEC(p1)'pra positionLETR TARGETLOC = rvec(P1) '+ rvec(P5) 'absolute rotationLetF targetloc = CURFIGLETF P2 = CURFIGLETR P0 = RVEC(targetloc)

LETP P0 = PVEC(targetloc) + PVEC(P2) 'ONLY POSITIONMOVE L, P0

LETP P0 = (0, 0, 0) 'RESER POS OF P0LETR P[1] = (0, 0, 0) 'RESET P1LETP P2 = (0, 0, 0)LET I0 = 4 'exit homeLET i1 = 1 'open read command

endif

wendEND

A C: D

1 1

1 0 0 1 1

2 0 90 2 0

3 2 0 3 0

4 3 90 4 4

5 0 90 5 0

6 0 90 6 0

7 6 0 0 7


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`

`

T01 stands for transfor from base to joint1

T67 stands for transfor from joint 6 to the tip

Multiplying all of these matrices togerther gives you the transform between the base andthe tip (I dont add these equations because they are extremely long and their calculationis simple)

A D: B

SUBSYSTEM COMPONENT QTY PRICE ($) COST ($)

S S

E (30K

PPR) 12 150 1800

C 12 25 300


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S C N/A 20 20

S 2120

M M 4 25 100

D K 1 200 200

S 300

PP ACA 1 50 50

R

I N/A 45 45

HB 4 5 20

D

C N/A 100 100

S 215

S L PCB 3 100 300

G M N/A 25 25

EM N/A 45 45

C

F N/A 50 50


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A : C


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A : C

A D (AD)

C/ 123 A&B / 2011

G W: ://..//..//G E: @.

:

:

O

. O

,

, .

D:

T

D . T

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A W

EE E

@.

713@.

415 359 8713

S R

CMPE D H@.

@.

805 233 0079

J M G

CMPE D H

@.

...@.

831 707 5482

J R R

CMPE R C

@.

@.

415 706 7276

E M

EE E@..

@.

510 637 9132

K D

CMPE D H

@.

@.

408 705 7208

E V L

BE B

@.

@.

415 847 8152


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ce123B_FinalReport_1

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