Robot Control Through 3D web application

Transcription

1 2016 Robot Control Through 3D web application GROUP MEMBERS: CORY OLIPHANT COMPUTER ET JOSEPH REGARD COMPUTER ET CLELAND MONTECILLO COMPUTER ET ADVISOR: DR. MOHAMMAD SAADEH INSTRUCTOR: CRIS KOUTSOUGERAS ET 493 FALL 2016

2 Table of Contents Abstract 2 Objective 3 Materials 3 Design 4 Code 6 Current Progress 9 Deliverables 11 1 E t : A r m C o n t r o l

3 Abstract Robotic arms are in widespread use throughout multiple industries. This is, in part, due to their exceptional usefulness in processes such as manufacturing. One downside to the use of these automation tools is the requirement of a fairly skilled individual with a competent understanding of coding in order to give the arm instructions. The direction of this project is to develop a 3d application to control a robotic arm. Such an application would allow unskilled users to manipulate and program tasks for an automated arm with simple click and drag commands. With a microcontroller sending instructions to the arm, this device would not necessarily be a good fit for industry, but could instead be used as a teaching tool for k-12 level STEM programs. 2 E t : A r m C o n t r o l

4 Objective The main objective of this project is to create a robotic arm manipulated with simple click and drag commands with a created model in a 3d application. This project will be segmented. The first semester will focus on research, design, & creation of the necessary program applications needed to complete this project. The second semester will focus on the implementation of the created applications on the Intel Joule and the integration of these applications with the robotic arm. At the moment the group impression is that the Intel Joule will serve as microcontroller and web server to host the page which sends instructions to the arm. Features which will be implemented once the main objective is complete or close to completion include: long-distance web accessibility & a web camera stream displaying the robot s reactions to manipulation in real time. Materials Intel Joule Robot Arm Webcam Server Space (possibly) 3 E t : A r m C o n t r o l

5 Design The design of this project focuses more around the programming behind the hardware. The hardware consists of the Intel Joule, a robotic arm, and a webcam. The robotic arm should consist of about five servos. These servos act as the five joints necessary to make a basic robotic arm (shoulder, wrist, etc.). The Intel Joule will act as the controlling mechanism for the arm. The arm will be controlled from an interactive 3-Dimensional model, which will be posted on the Intel Joule s default webpage. The Intel Joule will allow any user to access and move the 3-D model from any computer and control the arm through the Internet. Creating programs to control the GPIO (general purpose input/output) pins and designing the webpage to call specific programs are the first steps. Knowledge of HTML formatting will be required in order to accomplish this task. The Intel Joule s default programming language is Python. An example of the HTML and Python files are listed in the Code section. The next step would be to design a 3-D model of the arm. This can be accomplished using a number of different modeling software. The software used to make the 3-D model below was Maya. The 3-D model needs to be exported to the 3-D modeling software on your Intel Joule. Making the model directly on the Joule would be a much more complicated process. The 3-D software on the Raspberry is a library for the Joule called Unity. 4 E t : A r m C o n t r o l

6 The final stages of design require embedding the 3-D application onto the Intel Joule s webpage. It will also require receiving movement data for the application and using it to control the GPIO pins. The final step would be to implement a webcam and embed the live feed onto the Joule s webpage. These will all require further research in order to implement properly. 5 E t : A r m C o n t r o l

7 Code The code below was the Raspberry Pi s inex.html file used to see if the server was communicating properly with the Pi. Motor Control ServerTest Code <html> <head> <!-DCmotor.php-> <link href=" rel="stylesheet" integrity="sha384- BVYiiSIFeK1dGmJRAkycuHAHRg32OmUcww7on3RYdg4Va+PmSTsz/K68vbdEjh$ <title>two Motors</title> </head> <body> <!-Motor1-> <form action="" method="post"> <input type="submit" name="motor1" value="motor1 Clock" class="btn btn-default"> <br></br> <!-Motor1Counter-> <form action="" method="post"> <input type="submit" name="motor1counter" value="motor1 Counter" class="btn btndefault" > <br></br> <!-Motor2-> <form action="" method="post"> <input type="submit" name="motor2" value="motor2 Clock" class="btn btn-default" > <br></br> <!-Motor2Counter-> <form action="" method="post"> <input type="submit" name="motor2counter" value="motor2 Counter" class="btn btndefault" > <br></br> <!-Off-> <form action="" method="post"> <input type="submit" name="off" value="off" class="btn btn-default" > <br></br> </body> </html> <?php if($_post[motor1]){ 6 E t : A r m C o n t r o l

8 $a-exec("sudo python /var/www/html/motorcontrol/motor1.py"); echo $a; } if($_post[motor1counter]){ $a-exec("sudo python /var/www/html/motorcontrol/motor1counter.py"); echo $a; } if($_post[motor2]){ $a-exec("sudo python /var/www/html/motorcontrol/motor2.py"); echo $a; } if($_post[motor2counter]){ $a-exec("sudo python /var/www/html/motorcontrol/motor2counter.py"); echo $a; } if($_post[off]){ $a-exec("sudo python /var/www/html/motorcontrol/off.py"); echo $a; }?> The below code is the current python code used to interpret data on a text file. This text file will store the values entered on the Raspberry Pi s server Servo Control Code import time import RPi.GPIO as GPIO GPIO.setmode(GPIO.BOARD) GPIO.setup(22,GPIO.OUT) f = open('some.txt','r') x = f.readlines() angle1 = int(x[0]) angle2 = int(x[1]) pwm1=gpio.pwm(22,100) pwm1.start(5) ## PWM Frequency duty1= int((angle1)/ ) ## Angle To Duty cycle Conversion duty2= int((angle2)/ ) pwm.changedutycycle(duty1) time.sleep(1) GPIO.cleanup() 7 E t : A r m C o n t r o l

9 The below code is the index.html file used to write data to a text file then execute the above python code Servo Control Server Test Code <!DOCTYPE html> <html> <head> <script src=" </head> <body> <h1>title</h1> <h1><?php echo 'okay';?> </h1> <form method='post'> Servo1: <input type="number" id="servo1" name='servo1'><br> Servo2: <input type="number" id="servo2" name='servo2'><br> <input type="submit" value="submit" id='submit' name='submit'> </form> <?php if(isset($_post['submit'])) { $myfile = fopen("some.txt", "w") or die("unable to open file!"); $txt = "John Doe\n"; fwrite($myfile, $txt); $txt = "Jane Doe\n"; fwrite($myfile, $txt); fclose($myfile); } 8 E t : A r m C o n t r o l

10 Current Progress After setting up initial Raspberry Pi web server, it was discovered that certain compatibility problems would prevent the desired goal from being achieved. First the Raspberry Pi Operating System and CPU are not compatible with the Unity game engine. This engine is what will be used to create and run the 3-D application. The other issue was that the Pi did not have the processing power necessary to run a web server, run Unity with our 3-D application, and stream a webcam output, all simultaneously. The solution to this is the Intel Joule. The Joule provides an upgrade in computing power. The Joule also provides a more open sourced OS, allowing it to be compatible with the Unity game engine. The problem with the Joule is that it is relatively new. Intel released the Joule in early August of Due to this recent release of the Joule, any errors it produces are difficult to research. Because of its difficulty in troubleshooting setting up the joule has taken longer than anticipated. The initial problem with the Joule was connecting to its development environment. The Joule uses a wireless connection in order to connect to a network. The SELU network blocks wireless SSH ports; therefore, the Joule cannot communicate with its development environment. This was able to be solved by using USB-to-Ethernet adapter. This created a wired Ethernet connection. Next, the test server we created to host our servo control page is unable to be accessed by other computers. We found that certain packages are necessary in order for Joule s server to function appropriately. By default, the Joule s operating system, Ostro OS, has the package installer set as disabled. In order to enable the package installer, we would have to create and build an entirely new Ostro OS image file with the pakage installer enabled. 9 E t : A r m C o n t r o l

11 In an effort to produce results with the project, the group has split its efforts. Cleland Montecillo will continue troubleshooting the Joule. At this point in time, our solution for the Joule is to install a completely different operating system on to the Joule; Ubuntu Core. This operating system is extremely similar to the Ubuntu operating system for desktops. Ubuntu Core was recently developed to run on various IoT devices including the Intel Joule. Ubuntu Core would prevent the use of the development platform Intel XDK, but instead it allows us to program with similar functions as a Raspberry Pi. For this reason, group members: Joe Regard & Cory Oliphant, have continued progress with the Raspberry Pi. At this point in time, servo control from a remote computer on the same network has been accomplished. This is accomplished by having a php file running on an apache web server that can be accessed by navigating to the ip address of the pi from a different computer on the network. For full remote internet access, we will have to forward the necessary ports in the router which will not be possible on a university network. 10 E t : A r m C o n t r o l

12 Deliverables Name Start Finish % Complete Set up Raspberry Pi webserver with motor control functionality (Cory & Joseph) Troubleshooting of Intel Joule (Cleland) Set up servo control and Joule webserver (Cory) Make 3-D model of the arm using Maya(Joseph) Create Unity application(cleland & Joseph) Integrate 3-D application onto Joule webserver(cory & Jospeh) Build arm (Everyone) Set up Webcam (Cleland) Integration of all components (Everyone) 9/23/16 10/6/16 100% 10/10/16 11/20/16 40% 11/20/16 11/31/16 0% 11/20/16 1/25/17 75% 1/25/17 2/25/17 0% 2/25/17 3/25/17 0% 3/25/17 3/31/17 0% 3/31/17 4/15/17 0% 4/15/17 5/1/16 0% 11 E t : A r m C o n t r o l