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To enhance this project, positional feedback from the robotic arm could be implemented so the computer could determine absolute position of the arm. With basic positional feedback, the robotic arm can be located in precisely the same position every time at the beginning of a script file (sequence) run. There are many approaches one can take. One basic method doesn t employ positional control but instead uses limit switches to find a home or starting position. The limit switches determine when the arm reaches one absolute, or home, position. To accomplish this, a series of limit switches (momentary contact lever switches) will close when the arm reaches its limit of travel in that particular direction. For instance, one limit switch would be mounted to the base. This switch would close only when the robotic arm was turned completely in a CW direction as far as it could go. Other limit switches would be mounted on the shoulder and elbow. They would close when the respective joint was fully extended. Another switch mounted to the wrist would close when the wrist was rotated to the furthest CW position. The last switch mounted to the gripper would close when the gripper is fully opened. To reset the arm to its home position, each function is activated in the direction of travel needed to close a limit switch until that limit switch actually closed. After all the functions are in the home position, the computer would then know the absolute position of the arm.

Once home, we can start and replay a script, knowing that the drift occurring during one run of the script is probably so minimal that the robotic arm will hit all its marks. Once the script is finished, the arm is reset to its home position and the script file is replayed. Sometimes a home position does not give enough feedback to perform certain operations, for instance, picking up an egg without crushing the shell. For these applications, more sophisticated methods of feedback need to be employed. Signals from transducers are processed using analog-to-digital (A/D) converters. The processed signals are used to determine factors such as position, pressure, speed, and torque. A simple example will illustrate. Imagine mounting a small linear potentiometer on the gripper section. The potentiometer is mounted so that when the gripper opens or closes, the slider on the potentiometer slides back and forth. So as the gripper opens and closes, the resistance of the potentiometer varies. Once calibrated, the resistance could accurately tell how far the gripper closed (or opened). Feedback systems add another layer of complexity and cost to the system. One can always use the manual control system to override and reposition the robotic arm as a script is running.

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After the interface is running properly, connect manual control to the interface using the eight-pin header. Orient the manual control s Molex connector to the eight-pin interface header as shown in Fig. 15.10. Press the connector firmly onto the header to seat. The

made a bold bet. The company aspired to be a global leader in the business, and it experimented with alternative oscillation technologies (quartz, mechanical, and tuning fork). This pushed Seiko s transformation from merely a mechanical watchmaker into a quartz and mechanical watch company. This move into low-cost, high-quality watches triggered wholesale change within Seiko and, in turn, within the worldwide watch industry. Even though the Swiss had invented both the quartz and tuning fork movements, they chose to reinvest in mechanical movements. But ultimately the quartz movement won the oscillation battle to become the industry standard. As Seiko and other Japanese firms prospered, the Swiss watch industry suffered.

@@@@@@@ &&&&&&&&& %%%%%%%% ############# Team LRN Robotic arm and IBM PC interface and speech control

The electron and its neutrino Ve are treated on the same footing as the muon and its neutrino vI'" The left helicity component of the charged lepton eL = (1 - ys)ej2 [IlL = (1 - ys),uj2] and its neutrino ve(v) are grouped into a column matrix (12-227) This suggests the introduction of a group of leptonic isospin for which Le and LI" are doublets, while the right components eR = (1 + ys)ej2 == Re and ,uR == RI" are singlets. A leptonic hypercharge Y is also assigned to each of these fields in such a way that the analog of the Gell-Mann and Nishijima rule is satisfied:

robotic arm can be controlled manually at any time. It doesn t make a difference if the interface is connected to the computer or not.

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