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Control of a Robotic Arm over CAN using a touch screen user interface

Control of a Robotic Arm over CAN using a touch screen user interface

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An essay for the 2012 Undergraduate Awards Competition by Róisín Howard. Originally submitted for Computer Engineering , with lecturer Dr. John Nelson in the category of Computer Sciences & Information Technology
An essay for the 2012 Undergraduate Awards Competition by Róisín Howard. Originally submitted for Computer Engineering , with lecturer Dr. John Nelson in the category of Computer Sciences & Information Technology

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Published by: Undergraduate Awards on Aug 30, 2012
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10/27/2013

 
 i
 
Computer Sciences & InformationTechnology
Control of a Robotic Armover CAN using a touchscreen user interface
 
July 2012Submitted to the Undergraduate Awards 2012
 
 Abstract 
This project was developed as a showcase demonstration for Analog Devices. Originally CAN wasdeveloped for automotive applications. Analog Devices designed CAN transceivers for industrialapplications. In this project the author is looking to provide Analog Devices with a portabledemonstration to showcase these new CAN transceivers to industry, namely the ADM3053. TheADM3053 is a signal and power isolated CAN transceiver with the latest iCoupler® technology for use inthe industrial and automotive segments.A Robotic Arm with servo motors controlled over CAN using a touch screen interface wasdesigned and developed by the author. It is intended that the capabilities of these new CANtransceivers will be demonstrated as a result of this project. This involved low level programming of amicrocontroller for the Robotic Arm control board. Precise control of the Robotic Arm is possible due tothe use of servo motors. A μClinux kernel was built around the drivers and interfaces required for thetouch screen device. This allowed the programming of an application to provide the control of theRobotic Arm across the CAN bus as a portable solution. It proved useful to follow a software lifecyclemodel in the designing, testing and evaluation of the project.The project proved both challenging and mentally stimulating and it achieved its objectives of controlling an industrial application; a Robotic Arm over CAN using a touch screen interface. AnalogDevices now have a portable showcase demonstration, which has been used successfully at trade showsabroad and on-site training days. Due to the showcase demonstration developed Analog Devices havereceived interest in the CAN transceivers which were developed. They are now being used in industrialapplications. This finished project will be a great learning experience for a future Co-operativeEducation student at Analog Devices. It will provide them with knowledge about CAN networks,microcontrollers, embedded programming and much more..
 
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Table of Contents
 Abstract .................................................................................................................................................. iiList of Nomenclatures ............................................................................................................................. viList of Figures ....................................................................................................................................... viiiList of Tables .......................................................................................................................................... ixChapter 1 Introduction ............................................................................................................................ 11. 1 Analog Devices .............................................................................................................................. 11. 2 Aims & Objectives ......................................................................................................................... 11. 3 Project Outline .............................................................................................................................. 21. 4 Overview ...................................................................................................................................... 4Chapter 2 Literature Review .................................................................................................................... 62. 1 Controller Area Network ............................................................................................................... 62. 2 The CAN protocol .......................................................................................................................... 72. 3 Embedded Systems ..................................................................................................................... 142. 3. 1 UNIX Systems & the C Programming Language .................................................................... 152. 3. 2 CAN in real-time embedded systems ................................................................................... 162. 3. 3 Microcontrollers and Digital Signal Processors ..................................................................... 182. 4 Discussion ................................................................................................................................... 18Chapter 3 Methodology......................................................................................................................... 203. 1 Inception .................................................................................................................................... 203. 2 Elaboration ................................................................................................................................. 213. 3 Construction ............................................................................................................................... 213. 4 Transition .................................................................................................................................... 22Chapter 4 Hardware Design & Implementation ..................................................................................... 234. 1 Board Layout/ Schematic ............................................................................................................ 23

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Róisín Howard added this note
To anyone who is interested in the full version of this report submitted to the University of Limerick please follow this link: Control of a Robotic Arm over CAN using a touch screen user interface The Undergraduate Awards had a 20,000 word limit on the submission so I had to slim the report down a lot. Thank you for your interest in my report! Róisín
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