Srinivas Neppalli
From Ece
Contents |
Weekly reports
| # | Task | Status |
|---|---|---|
| 1 | Make changes to chapter two | Complete |
| 2 | Re do the block diagram in Visio | Complete |
| 3 | Do code review | In progress |
| # | Task | Status |
|---|---|---|
| 1 | Make changes to chapter two | In progress. |
| 2 | Re do the block diagram in Simulink | In progress. |
| 3 | Do code review | Not started yet. |
To Do List
- 06.18.2007 - 06.25.2007
- Inverse Kinematics
- Do Inventory
- find and add more papers on continuum robots to the review paper
- Find motors on Maxon
- Find a way to make coin and soWin work together
- 06.04.2007 - 06.11.2007
- Presentation on inverse kinematics for continuum robots
- find and add more papers on continuum robots to the review paper
- Find motors on Maxon
- Find a way to make coin and soWin work together
- 05.29.2007 - 06.04.2007
- Read "A Unified Geometric Approach for Inverse Kinematics of a Spatial Chain with Spherical Joints".
- Start writing Thesis.
- Find motors on Maxon
- 05.21.2007 - 05.28.2007
- Check the math in review paper.
Use new encoder. Create new block in the library for 104quad8 - Done. Make 104quad8 completely operational with a UDP link - Done. Meeting - Boe-Bot - 10.30am 05.23
Updates
- The broken multimeters need new batteries.
- Coin3D-2.4.6 (VC8) is working on vista.
- The motors we have are 30 in-lbs. i think we should stick with that rating.
New encoder is not working...both A and B always stay high. UDP link for driver Working - 5.00pm 05.21 8 channels working on target side - 5.00pm 05.21 Overflow bugg fixed + driver working with 8 channel + UDP - 10.03am 05.22 There is no relative link on the server for Template:RoboticsMedia - Source: ECE System Admin.
Useful Stuff
- Air Compressor spare parts can be found at Master Tool Repair
- Motor Ratings from in-lbs to Watts
1 in-lbs = 15.8727 oz-in Horsepower = Torque(oz-in) X Speed(rps) / 16800 1 Horsepower = 746 Watts 30 in-lbs @ 1 rps = 21.1447 Watts
Or, starting from Wikipendia,
1 ft-lb = 12 in-lb 1 W = 44.3 ft-lb/min = 0.0709 ft-lb/sec = 0.851 in-lb/sec 30 in-lbs @ 1 rps = 25.5 W
How To
Install Coin libraries
Install Visual Studio 2005 and Matlab R2006a or higher
- Download the latest(2.4.6) version of coin binaries here
- Unrar the files on local hard drive and remember the location for me it is C:\Coin3D-2.4.6
- Add the location of bin directory (..\Coin3D-2.4.6\bin) to the PATH variable in Environment Variables. In my case C:\Coin3D-2.4.6\bin
- Recompile the mex files in Matlab. Make sure that the path in the command line is updated
- Thats all you have to do. Works in Vista.
Contact me
sn140@ece.msstate.edu
