vb.net barcode scanner tutorial Connecting manual control to interface in Android

Generation GTIN - 12 in Android Connecting manual control to interface

Connecting manual control to interface
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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
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15.10 Connecting the manual control
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@@@@@@@ &&&&&&&&& %%%%%%%% ############# Team LRN Robotic arm and IBM PC interface and speech control
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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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DOS-level keyboard program
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The keyboard program is a DOS-level program that allows one to control the robotic arm in real time (interactively) using the keyboard. The following keys perform the following functions:
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Function
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Up Left Grip Stop Down Right Release Quit
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Speech control for robotic arm
The speech control for the robotic arm uses the speech-recognition kit from Chap. 7. In this section we will build an interface from the speech-recognition kit to the robotic arm. This interface is also offered in a kit form from Images SI, Inc. The schematic for the speech-recognition interface is shown in Fig. 15.11. The interface uses a 16F84 microcontroller. The program for the microcontroller is as follows:
Speech Recognition Interface program Symbol PortA = 5 Symbol TRISA = 133 Symbol PortB = 6 Symbol TRISB = 134 Poke TRISA, 255 Poke TRISB, 240 Start: Peek PortB, B0 If bit4 = 0 then trigger goto start trigger: Pause 500 Wait 0.5 seconds Read BCD number @@@@@@@ &&&&&&&&& %%%%%%%% ############# Team LRN Peek PortB, B0 Repeat Trigger enabled, read speechrecognition circuit
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15.11 Speech controller circuit for robotic arm
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if bit5 = 1 then send goto start send: peek PortA,b0 poke PortB, b0 goto start eleven: if bit0 = 0 then ten poke portb,11 goto start ten: poke partb,10 goto start end Repeat Repeat Repeat
Output number
Read port A Is the number 11 Output number
if bit4 = 1 then eleven Repeat
Updates to the 16F84 program may be downloaded for free at
http://www.imagesco.com.
Programming the speech-recognition interface
Programming the speech-recognition interface is the same procedure used to program the speech-recognition kit in Chap. 7. To operate the robotic arm properly, you must program certain word numbers to specific robotic arm functions. You may use whatever command word you wish for any particular command. I am providing a command word in Table 15.1 for illustration; you may change any word you wish.
I Table 15.1
Word Number
1 2 3 4 5 6 7 8 9 10 11
Typical Command Word
GRIP E-Down R-Base S-Up L-Wrist Release E-Up L-Base S-Down R-Wrist Stop
Robotic Arm Function
Close gripper Elbow down Rotate base CCW Shoulder up Rotate wrist CW Open gripper Elbow up Rotate base CW Shoulder down Rotate wrist CCW Stop
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Parts list for the PC interface
(5) Tip 120 NPN transistors (5) TIP 125 PNP transistors (1) 74164 serial to parallel IC (1) 74LS373 octal latch (1) Red LED (5) 1N914 diodes (1) Eight-position Molex header (1) Eight-position 3"-long Molex cable (1) DPDT PC-mounted switch (1) DB25 RT angled PC-mounted connector (1) DB25 M-M 6-ft cable (1) PCB (10) 100K-ohm, 1/4-W resistors (3) 15K-ohm, 1/4-W resistors (1) 7805 voltage regulator The robotic arm interface kit contains all the above parts.
Parts list for the speech-recognition interface
(5) TIP 120 NPN transistors (5) TIP 125 PNP transistors (1) 74154 4/16 decoder IC (1) 4011 NAND gate (1) 4049 hex buffer (1) 741 op-amp (1) 5.6K-ohm, 1/4-W resistor (1) 15K-ohm, 1/4-W resistor (1) Eight-position Molex header (1) Eight-position 3"-long Molex cable (1) PCB (10) 100K-ohm, 1/4-W resistors (1) 4.7K-ohm, 1/4-W resistor (1) 7805 voltage regulator
@@@@@@@ &&&&&&&&& %%%%%%%% ############# Team LRN Robotic arm and IBM PC interface and speech control
(1) PIC16F84 microcontroller (1) 4.0-MHz crystal Robotic arm interface kit $44.95 OWI robotic arm trainer $84.95 Speech-recognition interface to robotic arm $39.95 Speech-recognition kit $100.00 Parts are available from: Images SI, Inc. 39 Seneca Loop Staten Island, NY 10314 (718) 698-8305
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Android hand
IN THIS CHAPTER WE WILL CONSTRUCT A HUMANLIKE OR android hand. The actuator we will use to move the fingers in the android hand is the air muscle introduced in Chap. 3. The air muscle is a pneumatic device that produces linear motion with the application of pressurized air. Much like a human muscle, it contracts when activated. You may think, well, pneumatic cylinders have been around quite a while and do the same thing. True, but the air muscle represents a boon to hobbyists and robotists because it is lower in cost, extremely lightweight, flexible, and easier to use. The air muscle has a power-to-weight ratio of about 400:1. Since most of its components are plastic and rubber, the air muscle can work while wet or underwater. The flexible nature of the air muscle allows it to be connected to and contract on/off axis pulleys and levers. The air muscle can contract even when bent around curved surfaces. These easy-to-use features make the air muscle the experimenter s choice over standard pneumatic cylinders. Of course, being a pneumatic device it needs a supply of compressed air. Compressed air is not as readily available as electric current. When I first learned about the air muscle, I thought that a small air system would be too much of a hassle to build. I was wrong. A simple air system can be put together for about $25.00, and a small electric air system for about $50.00. Overall efficiency is lost when using electric power to compress air. However, the air muscle consumes little air volume per activation and the compressed air can be stored. The air muscle s response and cycle times are fast. A small 6" 10-gram (g) air muscle can lift 6.5 pounds (lb).
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