Added: Jan 4, 2008
From: sintesiscpa
Duration: 0:17
The video shows how Orchestra Control Engine can manage several devices. The Wii Controller buttons has been used to choose the task to be executed. The communication between the Wii and PC is Bluethooh. The buttons control the application managing module so that the Control Loop can receive and compute the signals transmitted by three different devices: 1. Wii: the inclination information provided by a tri-axial accelerometer mounted inside the Wii Controller. In this way the robot tool flange moves in the space around a point in the same way as moving the Wii Controller; 2. Wacom Graphic Tablet: the signals provided by a graphic tablet about pen position and orientation. The robot with a pen mounted on the tool flange writes on a paper sheet in the same way as the human being makes on the graphic tablet; 3. GameTrak the signals provided by a game controller known as GameTrak. This is made by two turned up mouses with a string on each one. By means of the two encoder and the cable lenght is possible to obtain information about 3D-space position. The signal transmitted are computed by simulink model developed in Matlab-Simulink so that the robot tracks the cable driven by the user. Then the GameTrak.dlc module has been automatically obtained by the Matlab-Simulink using the Orchestra Builder. Has been also developed a trajectory generator that can allow the robot to draw an helix with adjustable time frequency and circle radius aligned with the graphic tablet. The video shows three different steps : 1. by means of the Wii Controller we move the robot TCP around a point in the space. Then the robot is moved to the Home position; 2. the helix trajectory generator is enabled. Then the robot is moved to the Home position; 3. the Wii Controller switches the application to the GameTrak task. The GameTrak has a button that we have used as dead-man to enable the robot motion and give more safety to the application. It works so that when pushed the robot moves otherwise the motion is stopped. When dead-man pushed, we rotate one of the two turned up mouse and extend its cable to make the robot tracking the user.
Channel: Howto
Tags: computer control electronics engine gametrack interactive mechanics orchestra remote robot sintesi tracking wii wiimote
Rating: ( ratings) Views: 551 Comments: 0
