Roboarm IoT Laboratory

The laboratory is located at Silesian Technical University, Poland, Gliwice Akademicka 16, room 310.

The lab consist mechanical robo arms with two degree of freedom. Using two actuators user can change position of arm, especially, can move end of second arm, at beside ground of lab. For better impression on the ground there are bricks on rail, which can be moved by arm.

The user needs to know:

• PWM control method
• working od servo-motors
• working of step-motors
• basic of inverse kinematics problem
• working of proximity sensor
• working of accelerometer

Robo arm is set of two arms. The first arm are fixed to the axle of stepmotos fix to the “wall” of laboratory. On the end of first are servomotor with second arm. Thus, for full moving robo arm, user have to control for two differenf way. For control of brick position, on the end of rail (on the side “wall”) there are binary proximity sensor, for recognized utmost position of bricks. For feedback, user can check position of arm using accelerometer sensors fixed on each arm.

There are 4 sensors in the lab:

• 2 accelerometer sensor on each arm
• 2 proximity sensor on bricks' rail

There are two actuators: serwomotors and step motors. Control of step-motos is simplified, using special drive. User haven't undesteand work od coil in step motor, beacuase driver has only two input: DIR and STEP.

You can connect your ESP8266 microcontroller via its integrated WiFi interface to the separated IoT network. Then you can communicate with other, already connected devices and even provide some information to the cloud. In details, there is a dedicated MQTT broker waiting for you. You can also set up your own soft Access Point and connect another node directly to yours.

The communication among the devices can be done using MQTT messages, exchanging data among other nodes (M2M) and you can even push them to the Internet.

Reference data

Using your Node, you can access it and publish/subscribe to the messages once you connect your ESP to the existing wireless network (this network does not provide access to the global internet and is separated but please note there are other developers and IoT nodes connected to this access point:

• SSID: internal.IOT
• Passkey: IoTlab32768
• Setup your microcontroller for DHCP, to automatically obtain an IP address, your ESP will obtain the address from the 192.168.90.X pool.
• MQTT server is available under fixed address: 192.168.90.5, and the credentials to publish / subscribe are:
  • User: vrel
  • Password: vrel2018

At the same time, only one user can be programming the controller, although analysing the signal by others (unlimited number) the user has sense. Model is provided to continuously work, without service breaks.

• Beginners
• * move the stepmotor, observe effect by accelerometer
• * move the servomotor, observe effect by accelerometer
• Undergraduates:
• * move set of arms beetwen
• * Registering temperature, humidity and flap position, period long time, and display these (as graph) on Arduino screen.
• * Send date to Tx lab and check correlation with effect in Rx laboratory.
• * Make data sequences, which will give effect moving flap with assumtions characteristic (period) in Rx laboratory.

gabriel.drabik@polsl.pl

This Intellectual Output was implemented under the Erasmus+ KA2: Strategic Partnership in the Field of Education, Training, and Youth - Higher Education.
Project IOT-OPEN.EU – Innovative Open Education on IoT: improving higher education for European digital global competitiveness.
Project number: 2016-1-PL01-KA203-026471.

Erasmus+ Disclaimer
This project has been funded with support from the European Commission.
This publication reflects the views only of the author, and the Commission cannot be held responsible for any use which may be made of the information contained therein.

Copyright Notice
This content was created by the IOT-OPEN.EU consortium, 2016,2019.
The content is Copyrighted and distributed under CC BY-NC Creative Commons Licence, free for Non-Commercial use.

In case of commercial use, please contact IOT-OPEN.EU consortium representative.