Project Poseidon

8/8/2019 Project Poseidon

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POLYTECHNIC UNIVERSITY OF

PACHUCA

ROBOTICS I

WORK:

TWO LINK PLANAR MANIPULATOR

(PROJECT POSEIDON)

STUDENTS:

LPEZ RANGEL JOSU

MONTERRUBIO ROMERO EDUARDO

MUOZ OLGUN MISAEL

TEACHER:

DR: LUIS IVN LUGO VILLEDA

PACHUCA DE SOTO 2010 APRIL 30TH


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Introduction

Man has always wanted to create artificial life. He has been determined to give

life to artificial beings to him in his place, or perform repetitive tasks, heavy or

difficult tasks.

According to some authors, such as J. J. C. Smart and Jasia Reichardt, the

first robot in history was Adam created by God. According to this, Adam and

Eve were the first intelligent robots created, and God was the one who

programmed them and gave them the first instructions they should follow. In

Greek mythology there can several stories about the creation of artificial life, for

example, Prometheus created the first man and woman with mud and animated

them with the heaven fire. This way we realize that humanity is obsessed with

creating artificial life since the beginning of all times.

Men created robots as a hobby, their job was to entertain its owner. The

materials used were available to everyone: resistant wood, metals such as

copper and other malleable material, it did not need or require some type of

processing to be used in creation of a robot.

These first robots used mainly brute force to make their moves. These first

machine tools that helped the man to make their job easier wasnt given thename of a robot, but were recognized as artifacts or simple machines.


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Theoretical Framework

The word robot can refer to both physical robots and virtual software agents, butthe latter are usually referred to as bots. There is no consensus on whichmachines qualify as robots, but there is general agreement among experts and

the public that robots tend to do some or all of the following: move around,operate a mechanical limb, sense and manipulate their environment, and exhibitintelligent behavior, especially behavior which mimics humans or other animals.

There is conflict about whether the term can be applied to remotely operateddevices, as the most common usage implies, or solely to devices which arecontrolled by their software without human intervention. In South Africa, robot isan informal and commonly used term for a set of traffic lights.

Stories of artificial helpers and companions and attempts to create them have along history but fully autonomous machines only appeared in the 20th century.The first digitally operated and programmable robot, the Unimate, was installedin 1961 to lift hot pieces of metal from a die casting machine and stack them.Today, commercial and industrial robots are in widespread use performing jobsmore cheaply or with greater accuracy and reliability than humans.

They are also employed for jobs which are too dirty, dangerous or dull to besuitable for humans. Robots are widely used in manufacturing, assembly andpacking, transport, earth and space exploration, surgery, weaponry, laboratoryresearch, and mass production of consumer and industrial goods.

It is difficult to compare numbers of robots in different countries, since there aredifferent definitions of what a "robot" is. The International Organization forStandardization gives a definition of robot in ISO 8373: "an automaticallycontrolled, reprogrammable, multipurpose, manipulator programmable in threeor more axes, which may be either fixed in place or mobile for use in industrialautomation applications." This definition is used by the International Federationof Robotics, the European Robotics Research Network (EURON), and manynational standards committees.

The Robotics Institute of America (RIA) uses a broader definition: a robot is a"re-programmable multi-functional manipulator designed to move materials,

parts, tools, or specialized devices through variable programmed motions forthe performance of a variety of tasks." The RIA subdivides robots into fourclasses: devices that manipulate objects with manual control, automateddevices that manipulate objects with predetermined cycles, programmable andservo-controlled robots with continuous point-to-point trajectories, and robots ofthis last type which also acquire information from the environment and moveintelligently in response.

There is no one definition of robot which satisfies everyone, and many peoplehave their own. For example, Joseph Engelberger, a pioneer in industrialrobotics, once remarked: "I can't define a robot, but I know one when I see one."

According to Encyclopaedia Britannica, a robot is "any automatically operatedmachine that replaces human effort, though it may not resemble human beings
http://en.wikipedia.org/wiki/Virtualhttp://en.wikipedia.org/wiki/Software_agenthttp://en.wikipedia.org/wiki/Internet_bothttp://en.wikipedia.org/wiki/South_Africahttp://en.wikipedia.org/wiki/Autonomous_robothttp://en.wikipedia.org/wiki/Digitalhttp://en.wikipedia.org/wiki/Unimatehttp://en.wikipedia.org/wiki/Industrial_robothttp://en.wikipedia.org/wiki/Manufacturinghttp://en.wikipedia.org/wiki/International_Organization_for_Standardizationhttp://en.wikipedia.org/wiki/International_Organization_for_Standardizationhttp://en.wikipedia.org/w/index.php?title=ISO_8373&action=edit&redlink=1http://www.ifr.org/http://www.ifr.org/http://en.wikipedia.org/wiki/European_Robotics_Research_Networkhttp://en.wikipedia.org/wiki/Joseph_Engelbergerhttp://en.wikipedia.org/wiki/Encyclopaedia_Britannicahttp://en.wikipedia.org/wiki/Encyclopaedia_Britannicahttp://en.wikipedia.org/wiki/Joseph_Engelbergerhttp://en.wikipedia.org/wiki/European_Robotics_Research_Networkhttp://www.ifr.org/http://www.ifr.org/http://en.wikipedia.org/w/index.php?title=ISO_8373&action=edit&redlink=1http://en.wikipedia.org/wiki/International_Organization_for_Standardizationhttp://en.wikipedia.org/wiki/International_Organization_for_Standardizationhttp://en.wikipedia.org/wiki/Manufacturinghttp://en.wikipedia.org/wiki/Industrial_robothttp://en.wikipedia.org/wiki/Unimatehttp://en.wikipedia.org/wiki/Digitalhttp://en.wikipedia.org/wiki/Autonomous_robothttp://en.wikipedia.org/wiki/South_Africahttp://en.wikipedia.org/wiki/Internet_bothttp://en.wikipedia.org/wiki/Software_agenthttp://en.wikipedia.org/wiki/Virtual


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in appearance or perform functions in a humanlike manner". Merriam-Websterdescribes a robot as a "machine that looks like a human being and performsvarious complex acts (as walking or talking) of a human being", or a "device thatautomatically performs complicated often repetitive tasks", or a "mechanismguided by automatic controls".

Modern robots are usually used in tightly controlled environments such as onassembly lines because they have difficulty responding to unexpectedinterference. Because of this, most humans rarely encounter robots. However,domestic robots for cleaning and maintenance are increasingly common in andaround homes in developed countries, particularly in Japan. Robots can also befound in the military.

While there is no single correct definition of "robot," a typical robot will haveseveral, or possibly all, of the following characteristics.

It is an electric machine which has some ability to interact with physical objectsand to be given electronic programming to do a specific task or to do a wholerange of tasks or actions. It may also have some ability to perceive and absorbdata on physical objects, or on its local physical environment, or to processdata, or to respond to various stimuli. This is in contrast to a simple mechanicaldevice such as a gear or a hydraulic press or any other item which has noprocessing ability and which does tasks through purely mechanical processesand motion.

Mental agency

For robotic engineers, the physical appearance of a machine is less importantthan the way its actions are controlled. The more the control system seems tohave agency of its own, the more likely the machine is to be called a robot. Animportant feature of agency is the ability to make choices. Higher-level cognitivefunctions, though, are not necessary, as shown by ant robots.

A clockwork car is never considered a robot. A remotely operated vehicle is sometimes considered a robot (or

telerobot). A car with an onboard computer, like Bigtrak, which could drive in a

programmable sequence, might be called a robot. A self-controlled car which could sense its environment and make driving

decisions based on this information, such as the 1990s driverless cars ofErnst Dickmanns or the entries in the DARPA Grand Challenge, wouldquite likely be called a robot.

A sentient car, like the fictional KITT, which can make decisions,navigate freely and converse fluently with a human, is usually considereda robot.
http://en.wikipedia.org/wiki/Merriam-Websterhttp://en.wikipedia.org/wiki/Assembly_linehttp://en.wikipedia.org/wiki/Domestic_robothttp://en.wikipedia.org/wiki/Japanhttp://en.wikipedia.org/wiki/Military_robothttp://en.wikipedia.org/wiki/Machinehttp://en.wikipedia.org/wiki/Gearhttp://en.wikipedia.org/wiki/Hydraulic_presshttp://en.wikipedia.org/wiki/Mechanicalhttp://en.wikipedia.org/wiki/Control_systemhttp://en.wikipedia.org/wiki/Agency_(philosophy)http://en.wikipedia.org/wiki/Ant_roboticshttp://en.wikipedia.org/wiki/Clockworkhttp://en.wikipedia.org/wiki/Teleroboticshttp://en.wikipedia.org/wiki/Bigtrakhttp://en.wikipedia.org/wiki/Smart_carhttp://en.wikipedia.org/wiki/Driverless_carhttp://en.wikipedia.org/wiki/Ernst_Dickmannshttp://en.wikipedia.org/wiki/DARPA_Grand_Challengehttp://en.wikipedia.org/wiki/Sentiencehttp://en.wikipedia.org/wiki/KITThttp://en.wikipedia.org/wiki/KITThttp://en.wikipedia.org/wiki/Sentiencehttp://en.wikipedia.org/wiki/DARPA_Grand_Challengehttp://en.wikipedia.org/wiki/Ernst_Dickmannshttp://en.wikipedia.org/wiki/Driverless_carhttp://en.wikipedia.org/wiki/Smart_carhttp://en.wikipedia.org/wiki/Bigtrakhttp://en.wikipedia.org/wiki/Teleroboticshttp://en.wikipedia.org/wiki/Clockworkhttp://en.wikipedia.org/wiki/Ant_roboticshttp://en.wikipedia.org/wiki/Agency_(philosophy)http://en.wikipedia.org/wiki/Control_systemhttp://en.wikipedia.org/wiki/Mechanicalhttp://en.wikipedia.org/wiki/Hydraulic_presshttp://en.wikipedia.org/wiki/Gearhttp://en.wikipedia.org/wiki/Machinehttp://en.wikipedia.org/wiki/Military_robothttp://en.wikipedia.org/wiki/Japanhttp://en.wikipedia.org/wiki/Domestic_robothttp://en.wikipedia.org/wiki/Assembly_linehttp://en.wikipedia.org/wiki/Merriam-Webster


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Physical agency

However, for many laymen, if a machine appears to be able to control its armsor limbs, and especially if it appears anthropomorphic or zoomorphic, it wouldbe called a robot.

A player piano is rarely characterized as a robot.[14] A CNC milling machine is very occasionally characterized as a robot. A factory automation arm is almost always characterized as an industrial

robot. An autonomous wheeled or tracked device, such as a self-guided rover

or self-guided vehicle, is almost always characterized as a mobile robotor service robot.

A zoomorphic mechanical toy, like Roboraptor, is usually characterizedas a robot.[15]

A mechanical humanoid, like ASIMO, is almost always characterized as

a robot, usually as a service robot.

Even for a 3-axis CNC milling machine using the same control system as arobot arm, it is the arm which is almost always called a robot, while the CNCmachine is usually just a machine. Having eyes can also make a difference inwhether a machine is called a robot, since humans instinctively connect eyeswith sentience. However, simply being anthropomorphic is not a sufficientcriterion for something to be called a robot. A robot must do something; aninanimate object shaped like ASIMO would not be considered a robot

Etymology

The word robot was introduced to the public by Czech writerKarel apekin hisplay R.U.R. (Rossum's Universal Robots), published in 1920. The play begins ina factory that makes artificial people called robots, but they are closer to themodern ideas of androids, creatures who can be mistaken for humans. Theycan plainly think for themselves, though they seem happy to serve. At issue iswhether the robots are being exploited and the consequences of theirtreatment.

However, Karel apek himself did not coin the word. He wrote a short letter in

reference to an etymology in the Oxford English Dictionary in which he namedhis brother, the painter and writerJosef apek, as its actual originator.[16]In anarticle in the Czech journal Lidov noviny in 1933, he explained that he hadoriginally wanted to call the creatures laboi (from Latin labor, work). However,he did not like the word, and sought advice from his brother Josef, whosuggested "roboti". The word robota means literally work, labor or serf labor,and figuratively "drudgery" or "hard work" in Czech and many Slavic languages.Traditionally the robota was the work period a serf had to give for his lord,typically 6 months of the year. Serfdom was outlawed in 1848 in Bohemia, so atthe time apek wrote R.U.R., usage of the term robota had broadened toinclude various types of work, but the obsolete sense of "serfdom" would still

have been known.
http://en.wikipedia.org/wiki/Laymanhttp://en.wiktionary.org/wiki/anthropomorphichttp://en.wiktionary.org/wiki/zoomorphichttp://en.wikipedia.org/wiki/Player_pianohttp://en.wikipedia.org/wiki/Robot#cite_note-13http://en.wikipedia.org/wiki/Robot#cite_note-13http://en.wikipedia.org/wiki/Robot#cite_note-13http://en.wikipedia.org/wiki/CNChttp://en.wikipedia.org/wiki/Factory_robothttp://en.wikipedia.org/wiki/Zoomorphichttp://en.wikipedia.org/wiki/Roboraptorhttp://en.wikipedia.org/wiki/Robot#cite_note-14http://en.wikipedia.org/wiki/Robot#cite_note-14http://en.wikipedia.org/wiki/Robot#cite_note-14http://en.wikipedia.org/wiki/ASIMOhttp://en.wikipedia.org/wiki/Czechoslovakiahttp://en.wikipedia.org/wiki/Karel_%C4%8Capekhttp://en.wikipedia.org/wiki/Karel_%C4%8Capekhttp://en.wikipedia.org/wiki/Karel_%C4%8Capekhttp://en.wikipedia.org/wiki/R.U.R._(Rossum%27s_Universal_Robots)http://en.wikipedia.org/wiki/1920http://en.wikipedia.org/wiki/Factoryhttp://en.wikipedia.org/wiki/Androidshttp://en.wikipedia.org/wiki/Exploitationhttp://en.wikipedia.org/wiki/Etymologyhttp://en.wikipedia.org/wiki/Oxford_English_Dictionaryhttp://en.wikipedia.org/wiki/Josef_Capekhttp://en.wikipedia.org/wiki/Josef_Capekhttp://en.wikipedia.org/wiki/Josef_Capekhttp://en.wikipedia.org/wiki/Robot#cite_note-KapekWebsite-15http://en.wikipedia.org/wiki/Robot#cite_note-KapekWebsite-15http://en.wikipedia.org/wiki/Robot#cite_note-KapekWebsite-15http://en.wikipedia.org/wiki/Lidov%C3%A9_novinyhttp://en.wikipedia.org/wiki/Latinhttp://en.wikipedia.org/wiki/Czech_languagehttp://en.wikipedia.org/wiki/Slavic_languageshttp://en.wikipedia.org/wiki/Serfdomhttp://en.wikipedia.org/wiki/Bohemiahttp://en.wikipedia.org/wiki/Bohemiahttp://en.wikipedia.org/wiki/Serfdomhttp://en.wikipedia.org/wiki/Slavic_languageshttp://en.wikipedia.org/wiki/Czech_languagehttp://en.wikipedia.org/wiki/Latinhttp://en.wikipedia.org/wiki/Lidov%C3%A9_novinyhttp://en.wikipedia.org/wiki/Robot#cite_note-KapekWebsite-15http://en.wikipedia.org/wiki/Josef_Capekhttp://en.wikipedia.org/wiki/Oxford_English_Dictionaryhttp://en.wikipedia.org/wiki/Etymologyhttp://en.wikipedia.org/wiki/Exploitationhttp://en.wikipedia.org/wiki/Androidshttp://en.wikipedia.org/wiki/Factoryhttp://en.wikipedia.org/wiki/1920http://en.wikipedia.org/wiki/R.U.R._(Rossum%27s_Universal_Robots)http://en.wikipedia.org/wiki/Karel_%C4%8Capekhttp://en.wikipedia.org/wiki/Czechoslovakiahttp://en.wikipedia.org/wiki/ASIMOhttp://en.wikipedia.org/wiki/Robot#cite_note-14http://en.wikipedia.org/wiki/Roboraptorhttp://en.wikipedia.org/wiki/Zoomorphichttp://en.wikipedia.org/wiki/Factory_robothttp://en.wikipedia.org/wiki/CNChttp://en.wikipedia.org/wiki/Robot#cite_note-13http://en.wikipedia.org/wiki/Player_pianohttp://en.wiktionary.org/wiki/zoomorphichttp://en.wiktionary.org/wiki/anthropomorphichttp://en.wikipedia.org/wiki/Layman


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The word robotics, used to describe this field of study, was coined by thescience fiction writer Isaac Asimov.

Robotic characters, androids (artificial men/women) or gynoids (artificialwomen), and cyborgs (also "bionic men/women", or humans with significant

mechanical enhancements) have become a staple of science fiction.

The first reference in Western literature to mechanical servants appears inHomer's Iliad. In Book XVIII, Hephaestus, god of fire, creates new armor for thehero Achilles, assisted by robots. According to the Rieu translation, "Goldenmaidservants hastened to help their master. They looked like real women andcould not only speak and use their limbs but were endowed with intelligenceand trained in handwork by the immortal gods." Of course, the words "robot" or"android" are not used to describe them, but they are nevertheless mechanicaldevices human in appearance.

The most prolific author of stories about robots was Isaac Asimov (19201992),who placed robots and their interaction with society at the center of many of hisworks. Asimov carefully considered the problem of the ideal set of instructionsrobots might be given in order to lower the risk to humans, and arrived at hisThree Laws of Robotics:

A robot may not injure a human being or, through inaction, allow ahuman being to come to harm

A robot must obey orders given to it by human beings, except wheresuch orders would conflict with the First Law

A robot must protect its own existence as long as such protection doesnot conflict with the First or Second Law

These laws were introduced in his 1942 short story "Runaround", althoughforeshadowed in a few earlier stories. Later, Asimov added the Zeroth Law:

"A robot may not harm humanity, or, by inaction, allow humanity to cometo harm"

The rest of the laws are modified sequentially to acknowledge this.

According to the Oxford English Dictionary, the first passage in Asimov's shortstory "Liar!" that mentions the First Law is the earliest recorded use of the wordrobotics. Asimov was not initially aware of this; he assumed the word alreadyexisted by analogy with mechanics, hydraulics, and other similar terms denotingbranches of applied knowledge.
http://en.wikipedia.org/wiki/Roboticshttp://en.wikipedia.org/wiki/Science_fictionhttp://en.wikipedia.org/wiki/Isaac_Asimovhttp://en.wikipedia.org/wiki/Androidhttp://en.wikipedia.org/wiki/Gynoidhttp://en.wikipedia.org/wiki/Cyborghttp://en.wikipedia.org/wiki/Bionichttp://en.wikipedia.org/wiki/Homerhttp://en.wikipedia.org/wiki/Iliadhttp://en.wikipedia.org/wiki/Hephaestushttp://en.wikipedia.org/wiki/E._V._Rieuhttp://en.wikipedia.org/wiki/Isaac_Asimovhttp://en.wikipedia.org/wiki/Three_Laws_of_Roboticshttp://en.wikipedia.org/wiki/Oxford_English_Dictionaryhttp://en.wikipedia.org/wiki/Liar!http://en.wikipedia.org/wiki/Roboticshttp://en.wikipedia.org/wiki/Roboticshttp://en.wikipedia.org/wiki/Liar!http://en.wikipedia.org/wiki/Oxford_English_Dictionaryhttp://en.wikipedia.org/wiki/Three_Laws_of_Roboticshttp://en.wikipedia.org/wiki/Isaac_Asimovhttp://en.wikipedia.org/wiki/E._V._Rieuhttp://en.wikipedia.org/wiki/Hephaestushttp://en.wikipedia.org/wiki/Iliadhttp://en.wikipedia.org/wiki/Homerhttp://en.wikipedia.org/wiki/Bionichttp://en.wikipedia.org/wiki/Cyborghttp://en.wikipedia.org/wiki/Gynoidhttp://en.wikipedia.org/wiki/Androidhttp://en.wikipedia.org/wiki/Isaac_Asimovhttp://en.wikipedia.org/wiki/Science_fictionhttp://en.wikipedia.org/wiki/Robotics


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PROJECT DESIGN

Mathematical modeling

The modeling used in Project Poseidon was the Denavith-Hartenberg convention.

The D-H parameters are:

Link ai di Alpha (i) q(i)1 a1 0 0 q12 a2 0 0 q2

FIGURE 1. POSEIDON


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Forward kinematics

X = a2cosq1 + q2 + a1 cosq1

Y = a2sinq1 + q2 + a1 sinq1

Inverse kinematics

r = (xd^2+yd^2) (1/2)gamma = acos((a1^2+a2^2-r^2)/(2*a1*a2))beta = asin((a2/r)*sin(gamma))theta = atan2(yd/xd

q1 = theta-beta

q2 = pi-gamma

MatLab Simulation

MatLab m-file

clc; clear allxd=input('x deseada==>');yd=input('y deseada==>');set(gca,'Color','w')axis([-.35 .35 -.35 .35])tm=0.01;a1=.14;a2=.13;x0=0;y0=0;k1=0;k2=0;r=(xd^2+yd^2)^(1/2);gamma=acos((a1^2+a2^2-r^2)/(2*a1*a2));betha=asin((a2/r)*sin(gamma));alpha=atan2(yd, xd);q1=(alpha-betha);q2=(pi-gamma);if (q1


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endif (q1>0)

k1=k1+tm;endif (q20)k2=k2+tm;

enddaspect([1,1,1])pause(0.00001)delete(L1)delete(L2)

end

L1=line([0,x1],[0,y1],'Color','r','LineWidth',2);L2=line([x1,x2],[y1,y2],'Color','b','LineWidth',2);

if((abs(k1)


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delete(L2)endL1=line([0,x1],[0,y1],'Color','r','LineWidth',2);L2=line([x1,x2],[y1,y2],'Color','b','LineWidth',2);X1=a1*cos(q1);Y1=a1*sin(q1);

X2=a2*cos(q1+q2)+a1*cos(q1);Y2=a2*sin(q1+q2)+a1*sin(q1);line([0,X1],[0,Y1],'Color','g','LineWidth',2);line([X1,X2],[Y1,Y2],'Color','g','LineWidth',2);q1=round(q1*180/pi)q2=round(q2*180/pi)X1=a1*cosd(q1);Y1=a1*sind(q1);X2=a2*cosd(q1+q2)+a1*cosd(q1);Y2=a2*sind(q1+q2)+a1*sind(q1);

Graphics

FIGURE 2. RUNNING THE SIMULATION


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FIGURE 3. VISUALIZING THE ERROR, THE GREEN ONE IS THE DESIREDPOSITION, AND THE BLUE ONE IS THE REAL POSITION.

In order to control the position of both links, it was necessary to program a PIC(Programable integrated circuit) using MPLAB ICD2 as a programmer.

MikroBasic was the software used to compile the program we use.

MikroBasic Program

program Brazo

dim i as byte

main:

PORTB = 0


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PORTD = 0

TRISB = 0

TRISD = 0

PORTD.1 = 1

Inicio:

while true

'------------------------------------------

for i = 1 to 150

PORTB.0 = 1

Delay_us(1000)

PORTB.0 = 0

Delay_us(19000)

next i

for i = 1 to 150

PORTB.0 = 1

Delay_us(2700)

PORTB.0 = 0

Delay_us(17300)

next i

for i = 1 to 150

PORTB.0 = 1

Delay_us(4550)

PORTB.0 = 0


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Delay_us(15450)

next i

'------------------------------------------------------

for i = 1 to 150

PORTB.1 = 1

Delay_us(1350)

PORTB.1 = 0

Delay_us(18650)

next i

for i = 1 to 150

PORTB.1 =1

Delay_us(3050)

PORTB.1 = 0

Delay_us(16950)

next i

for i = 1 to 150

PORTB.1 =1

Delay_us(4750)

PORTB.1 = 0

Delay_us(15250)

next i

'-------------------------------------------------------------

wend

end.


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CONCLUSIONS

It is possible to control a two link manipulator with a simple program, each linkat the time. The use of a manipulator of this kind has many applications inindustry.

References

Cheney, Margaret [1989:123] (1981). Tesla, Man Out of Time. DorsetPress. New York. ISBN 0-88029-419-1

Craig, J.J. (2005). Introduction to Robotics. Pearson Prentice Hall. UpperSaddle River, NJ.

Needham, Joseph (1986). Science and Civilization in China: Volume 2.Taipei: Caves Books Ltd.

Sotheby's New York. The Tin Toy Robot Collection of Matt Wyse, (1996) Tsai, L. W. (1999). Robot Analysis. Wiley. New York. DeLanda, Manuel. War in the Age of Intelligent Machines. 1991. Swerve.

New York.

Journal of Field Robotics Robotics education website
http://en.wikipedia.org/wiki/Special:BookSources/0880294191http://www3.interscience.wiley.com/journal/117946193/grouphome/home.htmlhttp://www.razorrobotics.com/http://www.razorrobotics.com/http://www.razorrobotics.com/http://www3.interscience.wiley.com/journal/117946193/grouphome/home.htmlhttp://en.wikipedia.org/wiki/Special:BookSources/0880294191

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