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Robotic Arm Circuit and Codes

Robotic Arm built on RC Car, Using Arduino, The Servo controller MCU and Leap motion controller. Movements controlled by gestures detected by the leap motion controller. palm position: x_axis = right - left y_axis = up - down z_axis = forward - backward pitch = pitch ! two fingers along the x_axis distances = catcher (gripper) Mutasim Ali email: [email protected] China, Huazhong University Of Science andTechnology.

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5K views4 pages

Robotic Arm Circuit and Codes

Robotic Arm built on RC Car, Using Arduino, The Servo controller MCU and Leap motion controller. Movements controlled by gestures detected by the leap motion controller. palm position: x_axis = right - left y_axis = up - down z_axis = forward - backward pitch = pitch ! two fingers along the x_axis distances = catcher (gripper) Mutasim Ali email: [email protected] China, Huazhong University Of Science andTechnology.

Uploaded by

Mutasim.Ali
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Mutasim Ali erorr62@hotmail.

com

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Tutorial Robotic Arm

ROBOTIC ARM - LEAP MOTION - ARDUINO

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The Wiring Circuit !

Wi tx = arduino rx" Wi rx = arduino tx"

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The Arduino Code ! ! ! ! !


#include <Servo.h> //string hold the income data String readstring; //dene motors Servo m,m1,m2,m3,m4; void setup() { //start Serial connection Serial.begin(115200); m.attach(9); //x m1.attach(10); //z m2.attach(5); //y m3.attach(11);//p m4.attach(6);}//g

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void loop() { //serial available and working while (Serial.available()) { //delay to get all the income delayMicroseconds(65); //if there is income data if (Serial.available() >0) { // store character char c =Serial.read(); //add it to the income string readstring += c;}} ! 3 //if the string has value if(readstring.length() >0) { String P=readstring.substring(0,readstring.indexOf(P));//position P String Q=readstring.substring(readstring.indexOf(P')+1,readstring.indexOf('Q')); //position Q String F=readstring.substring(readstring.indexOf(Q')+1,readstring.indexOf('F')); //position F String K=readstring.substring(readstring.indexOf(F')+1,readstring.indexOf('K')); //position K String L=readstring.substring(readstring.indexOf(K')+1,readstring.indexOf('L')); //position L char carrayP[P.length() + 1]; //dene a new string for P data char carrayQ[Q.length() + 1]; //dene a new string for Q data char carrayF[F.length() + 1]; //dene a new string for F data char carrayK[K.length() + 1]; //dene a new string for K data char carrayL[L.length() + 1]; //dene a new string for L data P.toCharArray(carrayP, sizeof(carrayP)); // initialize the string P Q.toCharArray(carrayQ, sizeof(carrayQ)); // initialize the string Q F.toCharArray(carrayF, sizeof(carrayF)); // initialize the string F K.toCharArray(carrayK, sizeof(carrayK)); // initialize the string K L.toCharArray(carrayL, sizeof(carrayL)); // initialize the string L int pv = atoi(carrayP); //convert from string to int to write to the motor int qv = atoi(carrayQ); //convert from string to int to write to the motor int fv = atoi(carrayF); //convert from string to int to write to the motor int kv = atoi(carrayK); //convert from string to int to write to the motor int lv = atoi(carrayL); //convert from string to int to write to the motor m.write(pv); //write the int to motor to move m1.write(qv); //write the int to motor to move m2.write(fv); //write the int to motor to move m3.write(kv); //write the int to motor to move m4.write(lv); //write the int to motor to move readstring=""; // sign the income string to nothing

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}

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Processing Code (java) ! !


import com.leapmotion.leap.*;" import processing.net.*;" Client arm; // dene a tcp client" Controller leap; //dene the leap motion controller" boolean work=false; // boolean for case the hand and the nger is detected " " void setup() {" size(300, 200); //set the app window size" leap = new Controller(); // initialize leap motion controller" arm = new Client(this, "192.168.0.1", 55555); //start the client connection ip + port" }" //base motor formula " double cba(double a) {" oat n = 100*3;" a = 1.5+2*a/n;" double angle = 90+Math.cos(a)*90;" return angle;}"

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void draw()" {" //leap motion" HandList hands = leap.frame().hands();" Hand hand = hands.get(0);" FingerList ngers = hand.ngers();" Vector hp = hand.palmPosition();" Pointable f1=ngers.get(0);" Pointable f2=ngers.get(1);" oat #1=f1.tipPosition().getX();" oat #2=f2.tipPosition().getX();" oat sub=#1-#2; // get the distance between the two ngers " " oat pitch = hand.direction().pitch()* 100; // get pitch "

//set maximum and minimum values for the controller range" if(hp.getY()<150) hp.setY(150);" if(hp.getY()>445) hp.setY(445);" if(hp.getZ()<-180) hp.setZ(-180);" if(hp.getZ()>180) hp.setZ(180);" " oat zv=map(hp.getZ(),-180,180,160,8); // map z" oat yv=map(hp.getY(),150,445,0,179); //map y" double xv=180-cba(-hand.palmPosition().getX()/1.5); // get x"

oat pv=map(pitch,-90,100,160,6); // map pitch" oat gv=map(sub,20,90,145,73); //map ngers distance" " if(ngers.count()>=2){work=true;} // set the case" else{work=false;}" //if in range" if(work&&zv<=180&&zv>=0&&yv<=150&&yv>=0&&xv<=180&&xv>=0&&pv<=160&&pv>=6&&gv<=145&&gv>=73){" String v1=(int)xv+"P";" String v2=(int)zv+"Q";" String v3=(int)yv+"F";" String v4=(int)pv+"K";" String v5=(int)gv+"L";" arm.write(v1+v2+v3+v4+v5); // write to the MCU" } " //leap motion" background(205);//set background color" }"

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