HDTenEightyP/NetNews huggingface dataset:
From: gm26@prism.gatech.EDU (MCMURRAY,GARY V)
Newsgroups: comp.robotics
Subject: Parallel Robotic Devices
Keywords: parallel robot, kinematics
Date: 11 Sep 92 19:51:18 GMT
Organization: Georgia Institute of Technology


Hello everybody!!

I am doing some work with looking at the possiblity of using a parallel
actuated device with 3 DOF's (an automated camera tripod) as a robot
for a manufacturing task.  I am looking for high speed, low accuracy, and
low cost.  The problem that I am having is with determing the forward
kinematics for such a device.  The inverse kinematics is easy, but the 
forward is a bit tougher.  If anybody can point me in the right direction
I would appreciate it!!  Also, if anybody has any thoughts about the use
of a parallel device for such an application, please let me know.  I 
believe that parallel devices have a number of interesting attributes to
them that make them an attractive alternative to serial devices.

Thanks for your comments,

Gary McMurray
-- 
MCMURRAY,GARY V
Georgia Institute of Technology, Atlanta Georgia, 30332
uucp:	  ...!{decvax,hplabs,ncar,purdue,rutgers}!gatech!prism!gm26
Internet: gm26@prism.gatech.edu
From: ceb@csug.cs.reading.ac.uk (Colin Bridgewater)
Newsgroups: comp.robotics
Subject: Re: Neuron chips for robotics
Date: 14 Sep 92 08:59:17 GMT
Organization: University of Reading

brian@mdavcr.mda.ca (Brian Lemire) writes:


>	Is anyone using (or considering using) Echelon's Neuron chip for
>robotics work ? It seems to be well suited for the task, especially for
>complex designs where a number of micro-controllers would be used, since
>it incorporates hardware and firmware to support networking via different
>media. (ex twisted pair, RF transceivers)

>Brian Lemire
>MacDonald Dettwiler

Reading University's Department of Cybernetics has a project starting to
do just this, joint with British Petroleum. BP donated one of their System 20
Cartesian robots and Echelon have given us a massive discount on one of their
LON Builders. We are negotiating with SERC (the UK's main academic funding
body) to actually purchase the beast. A follow-up project will look at using
LONs to replace a conventional NC machine controller.

LONs are exciting because they offer functionality and ease-of-use at an
exceptionally low cost, both in monetary and in programming terms. This is
definitely a "Watch This Space" cause.

Colin


***************************************************************************
*  Colin Bridgewater       *     tel: +44 - 734 - 318219      * Some day, *
*  Senior Research Fellow  *     fax: +44 - 734 - 318220      * all work  *
*  Dept of Cybernetics     *                                  * will be   *
*  Univ. of Reading        *  cybceb@uk.ac.reading.cyber      * done this *
*  Reading, UK             *  shsbriwa@uk.ac.reading.susssys1 * way.....  *
***************************************************************************
Newsgroups: comp.robotics
From: sinster@cse.ucsc.edu (Darren Senn)
Newsgroups: comp.robotics
Subject: Re: miniboard 2.0 - i nee
Date: 5 Sep 1992 15:44:42 GMT
Organization: University of California, Santa Cruz (CE/CIS Boards)
NNTP-Posting-Host: banner.ucsc.edu

What's wrong with just using an RC filter to scrag the high frequency
components of the signal?  When you reload the entire shift register
chain, you'll presumably do it in a tight loop.  This will create a 
high frequency glitch in all the outputs.  If you use a low-pass filter
on the output of all the shift registers, things should work pretty
well.  It shouldn't cost more than $1 for eight caps and resistors.
You just have to worry about space.  Luckily these components can be
packed pretty tightly, or even used as part of the wiring to the
motor (0 PCB space that way!).
-- 
Darren Senn                                            Phone:    (408) 479-1521
sinster@scintilla.capitola.ca.us                       Snail: 1785 Halterman #1
Wasurenaide -- doko e itte mo soko ni anata wa iru yo.     Santa Cruz, Ca 95062
From: fsjma2@acad3.alaska.edu
Newsgroups: comp.robotics
Subject: Miniboard info wanted
Date: 5 Sep 92 18:43:58 GMT
Organization: University of Alaska Fairbanks

I came in a little late on this robotics kit could someone please mail me more
data on it (i.e. parts list and stuff). I tried to get it from the MIT server
but couldn't.

Thanks.
Newsgroups: comp.robotics
From: fculpepp@norfolk.vak12ed.edu (Fred W. Culpepper)
Subject: Re: slip rings
Organization: Virginia's Public Education Network (Norfolk)
Date: Sat, 12 Sep 92 14:48:14 GMT

@ccs.carleton.ca writes:
> In article <27762@life.ai.mit.edu> bleck@aztec.ai.mit.edu (Olaf Bleck) writes:
> 
> >Seriously though, Fischertechnik is designed in it's original form for a
> >different purpose and a more advanced crowd, whereas Lego was originally for
> >the younger crowd.  Since then, F't. has retrofitted with simpler stuff, and
> >Lego with more complicated stuff, probably to dig into each others' market
> >shares.  Both are pretty nice prototyping toys though, but I think
> >Fischertechnik is more durable (except for one design flaw): it's a less
> 
> >-Olaf
> 
> I would think that Macco(sp?) would be great for prototyping. 
> These things last forever and many older sets can be picked
> up at garage sales for a few dollars. 
> 
> 
> Now to really show my ignorance ... I'm new to all this ...
> Just what is a slip ring ?

I tried to reply via E-Mail, but your return address was
incomplete.

Meccano has a slip ring assembly among its 512 separate
components.  They were included in a kit called ELECTROKIT
which was manufactured in the 70's.  Using the same technique
used by Meccano, a custom made slip ring can be constructed
using printed circuit board.

If you desire further information, reply by E-Mail so I can
obtain a correct address to answer you request.

Fred W. Culpepper
OLD DOMINION UNIVERSITY (Retired)
fculpepp@norfolk.vak12ed.edu
--
From: cyberman@toz.buffalo.ny.us (Cyberman)
Newsgroups: comp.robotics
Subject: Re: miniboard 2.0 - i nee
Date: 5 Sep 92 01:41:20 GMT
X-Maildoor: WaflineMail 1.00r


     -=> Lee Hounshell spoke of "Re: miniboard 2.0 - i nee" <=-
    To All at 09-02-92  23:34
 LH> Fred, thank you very much for your suggestions.
 LH> Of the two alternatives you outlined, I think I prefer the 2nd the
 LH> best (register shifting).  It offers much better use of the miniboard
 LH> and is far more space efficient.  The only thing that worries me a
 LH> little is the random motor motion that might occur during the shifting
 LH> of registers. Nevertheless, at the moment I am leaning toward this a
 LH> the solution I will implement.

You might be able to "fix" this by using serial to parallel chips
with tristate outputs and by straping the outputs to ground via a
resister network.  This way you can drive the outputs when your
not shifting then activate them when your done.  Assumeing that
your inputs to the motor controller are active high of course.

The 74ls164 is an 8bit TTL SIPO register but has no control of the
outputs so you would need a tristate buffer attached to the
outputs of each one.  Since you can chain these and have them on
seperate boards it's no big deal.  this means 1 14 pin chip and 1
74ls241 20 pin for the 8bit 3 state buffer.  These are relatively
inexpensive about $0.49 for the 164 and 0.69 for the 241.

However if you want a single chip solution try the CMOS part
4094!  This beauty has everything built in 8 bit SIPO shift
register a storage register and a 3state output buffer.  The
advantage is that you can select whether you want to store the
data or not in the register and also enable the output.  You
might have some TTL to CMOS conversion needed but if you need
space reduction this is your chip since it's only 16 pin [small].
This chip costs about $1.19 so it's cheaper and smaller and uses
less power.  Howver if you need TTL drive you might have to go to
the former.

 LH> Do you know of any way I might "disable" all the motors while the
 LH> registers are being shifted into place?

Read the above.

 LH> Also, is anyone working on (or planning on building) a monitor program
 LH> that will enable the miniboard to be networked to other miniboards?
 LH> Perhaps we could make this a net project if the interest level is high
 LH> enough.

        Stephen Cyberman@Toz.Buffalo.NY.US
        Scripted at Fri  09-04-1992  10:43:30

... Sorry, you have to think to use a computer.
--- Blue Wave/QWK v2.10
From: demers@cs.ucsd.edu (David DeMers)
Newsgroups: comp.robotics
Subject: Re: Neuron chips for robotics
Date: 14 Sep 92 16:52:29 GMT
Organization: =CSE Dept., U.C. San Diego

In article <ceb.716461157@reading> ceb@csug.cs.reading.ac.uk (Colin Bridgewater) writes:
>brian@mdavcr.mda.ca (Brian Lemire) writes:


>>	Is anyone using (or considering using) Echelon's Neuron chip for
>>robotics work ? 
...

>Reading University's Department of Cybernetics has a project starting to
>do just this, joint with British Petroleum. BP donated one of their System 20
>Cartesian robots and Echelon have given us a massive discount on one of their
>LON Builders. 

>... A follow-up project will look at using
>LONs to replace a conventional NC machine controller.

>LONs are exciting because they offer functionality and ease-of-use at an
>exceptionally low cost, both in monetary and in programming terms. 
...

OK, I give up.  I came up with two dozen or so 3-word phrases
that have LON as an acronym, but none seem to be satisfactory
for this thread.  What's a "LON"?

-- 
Dave DeMers			 ddemers@UCSD   demers@cs.ucsd.edu
Computer Science & Engineering	C-014		demers%cs@ucsd.bitnet
UC San Diego					...!ucsd!cs!demers
La Jolla, CA 92093-0114	(619) 534-0688, or -8187, FAX: (619) 534-7029
Newsgroups: comp.robotics
From: fasano@venus.iucf.indiana.edu (Matthew John Fasano)
Subject: Re: defn. "slip ring"
News-Software: VAX/VMS VNEWS 1.3-4   
Keywords: slip ring(s)
Reply-To: fasano@venus.iucf.indiana.edu
Organization: IUCF
Date: Mon, 14 Sep 1992 22:36:33 GMT

In article <.59@ccs.carleton.ca>, @ccs.carleton.ca writes...
>In article <1992Sep13.064605.18798@rti.rti.org> jb@rti.rti.org writes:
> 
>>"slip ring [ELEC] A conductive rotating ring which, in combination with
>>a stationary brush, provides a continuous electrical connection between
>>rotating and stationary conductors; used in electric rotating
>>machinery, synchros, gyroscopes, and scanning radar antennas."
> 
>>       - McGraw-Hill Dictionary of Scientific and Technical Terms
> 
>If that's the case, would the following work ...
> 
>Using printed circit boards, as described elsewhere, etch the a series
>of circles on the boards. Use small ball bearings as brushes and the
>circles as bearing races. Not only would you have a slip ring but also
>a fairly good load bearing joint ( at least for light duty applications)
I tryed this and it didn't work for me.  I think it was because I needed 
a spring maintain contact.  I  think the berings don't provide much surface
contact either.
From: ted@nmsu.edu (Ted Dunning)
Newsgroups: comp.robotics
Subject: Re: Stepper motor programs wanted
Date: 9 Sep 92 16:34:56 GMT
	<MICHAEL.92Sep9002510@lucrece.uk.ac.oxford>
Reply-To: ted@nmsu.edu
Organization: Computing Research Lab


In article <MICHAEL.92Sep9002510@lucrece.uk.ac.oxford> michael@uk.ac.oxford.robots (& Stevens) writes:


   At the time I did a quick literature survey to see if others had
   applied a Breshenham like method, but nothing came up. Has anyone else
   done something similar? Anyone interested in the algorithm?

yes.

i have done the same.  in particular, i was interested in coordinating
6 motors.  adapting breshenham's algorithm made the program a piece of
cake, and the results were very nice.  the major difference was that
for graphics, you can get by with a single state variable for the
algorithm by subtracting the x and y control variables.  with multiple
axes, you can't get away with that.


--

REALLY, instead of hyping low impact soles, I think what we need
are more low impact souls.
					Greg Jahn
Newsgroups: comp.robotics
From: carrasco@bmers217.bnr.ca (Sylvano Carrasco)
Subject: miniboard parts
Keywords: miniboard
Organization: Bell-Northern Research Ltd, Ottawa, Canada
Date: Fri, 11 Sep 92 13:27:03 GMT

To all miniboarders,

I was trying to order some of the parts for the miniboard yesterday when I ran into a snag.
I phoned DIGIKEY up to order some parts listed on the PARTS LIST.  Not having a catalogue
made life difficult since I was informed that some of the part #s were 'invalid'.  Could
some kind soul with a DIGIKEY catalogue please check on these items.

1)	P6203 	(330 uF, 6.3V elect cap)

	I was told this part was on back-order.  The girl at the order desk said they had
a 10V 330uF but I'm pretty sure the can size is different (8mm as opposed to 6.5mm).  They
did have a axial version but I figured it would be too difficult to mount.  The next closest
value was 220 uF (part #P6202).  Is it okay to lower this cap value?

2)	Q3102	(1K x 3 isolated RPACK)

	I was told this was an 'invalid' part.  I asked the girl to check the catalogue.
She said there was a Q2102( 1K x 2 isolated), Q4102 (1K x 4 isolated) and Q5102 (1K x 5 
isolated)  but the 1K value didn't come in a x3 format.  Can someone check this?

3)	EG1603-ND	(SPDT miniature slide switch)

	Again, I was told this was an invalid part #.  So she checks the catalogue and finds
an EG1601-ND, EG1602-ND and EG1604-ND.  I ask her what the difference is.  She says they are
all the same except for the colour.  Apparently the last digit means a different colour.  So
I figure they don't have black (or whatever EG1603 would be).  I order the EG1602-ND (blue) and
she quotes $3.60 each.  I figure it must be wrong since the parts list says $1.56 and all the
other part prices have been bang on.  So she double checks and says its a SPST slide switch.
I tell her I'm looking for a SPDT switch.  She flips around and finds a SPDT part number
EG1903-ND (hmm sounds close).  She checks the price...$1.56 (bingo).  Now the only thing I'm
worried about is that its the wrong size or footprint.  Could someone check this?

Also I'm looking for the L293D and LM2931Z-5.0.  Does DIGIKEY carry it? 
I know Active has it but they've screwed around twice in two weeks in a big way
and I really don't want to be a three time loser.

If anyone could check these DIGIKEY parts, I would be most grateful.  Please post replies
to the net as I don't have external email.
Thanks
-- 
Sylvano

+------------------+------------------------------+----------------+
|  Sylvano Carrasco|   Bell-Northern Research     |  #define       |
|                  |   P.O. Box 3511 Station 'C'  |     Opinions   |
|  (613) 763-4109  |   Ottawa, Ontario.           |        My_Own  |
|                  |   Canada.  K1Y 4H7           |                |
+------------------+------------------------------+----------------+
From: hamilton@tikal.ced.berkeley.edu (Chris Hamilton)
Newsgroups: comp.robotics
Subject: Re: Laser Range Finder
Date: 14 Sep 92 23:26:56 GMT
Organization: University of California, Berkeley
NNTP-Posting-Host: tikal.ced.berkeley.edu

In article <1992Sep14.161207.22138@mail.cornell.edu>, YAQX@cornella (Richard Zimmerman) writes:
|> 
|> 	Does anyone have any information on the theory behind a laser range
|> finder?  I assume it works by sensing the phase change on the returning
|> reflected beam, but I'm not sure of all the smaller details.
|> 	Also, does anyone have any information on constructing such a device at
|> a minimal cost.  (what would a minimal cost really be?)  I'm looking for
|> a device to mount on a mobile robot as a obstacle detection device.
|> 
|> ----Richard Zimmerman  (rsz1@cornell.edu)

I know of one system that sends a pulsed beam to the object, which reflects 
the beam back to a sensor, which is a known disance from the emitter.  The
receiver can sense the position and shape of the reflected beam (which is pulsed
to avoid interference from other light sources), and calculates the disatnce
through triangulation.  It's commonly used in seam detection and tracking
for welding robots, and my guess is that it is expensive.  If you want more info,
email me and I'll give you the journal title and date (which I've temporarily misplaced)
in which it is published.

I came across this while looking for a highly accurate range sensor, and I
would appreciate any suggestions anyone can offer.  The application would be for 
collision avoidance and vertical axis guidance for a gantry mounted borescope that's
used for filming scale models of cities.  The the gantry robot drives the borescope
down the street, simulating the point of view of a motorist or pedestrian.  The range
sensor would control vertical motion over uneven terrain.  An ideal device would reflect
off of any opaque surface, operate from about 2-3 feet from the surface, be accurate 
to +/- 1/8" (ideally better), and update the position at least 30 Hz.  Again, any suggestions, leads
would be greatly appreciated.  Does have any info on the Polaroid range sensors?

Thanks
Chris Hamilton  hamilton@ced.berkeley.edu
From: fleck@sybil.cs.Buffalo.EDU (richard j fleck)
Newsgroups: comp.robotics
Subject: Puma or generic robotic arm simulators
Date: 12 Sep 92 07:07:37 GMT
Organization: State University of New York at Buffalo/Comp Sci
Originator: fleck@sybil.cs.Buffalo.EDU


 
Before we go reinventing the wheel we would
like to know if there are puma or generic 
robotic arm simulators available.

Any leads would be appreciated.

Rich Fleck
--
From: reeder@reed.edu (Doug Reeder)
Newsgroups: comp.robotics
Subject: Robot Sumo on TV
Date: 11 Sep 92 04:21:41 GMT
Article-I.D.: reed.1992Sep11.042141.6693
Organization: Div, Grad & Curl


On the TV show "Innovation", in the third part of their special series
"The Future is Now", entitled "The New ABC's", there is a short
segment on the robot sumo contests in Japan, as well as another on
students using Lego to do simple robots.  This played on my local
public telvision station.

Sorry, I don't have the facilities to make copies of the tape.


-- 
Doug Reeder                                 USENET: ...!tektronix!reed!reeder
Internet: reeder@reed.EDU                   BITNET: reeder@reed.BITNET

I am actively seeking scientific programming contracts.
Newsgroups: comp.robotics
From: ted@nmsu.edu (Ted Dunning)
Subject: next miniboard pcb fab run
Reply-To: ted@nmsu.edu
Organization: Computing Research Lab
Distribution: comp
Date: Thu, 10 Sep 1992 17:40:20 GMT



i am helping to run a class in spring semester that will be using the
miniboard as a vehicle to teach machine level programming.

does anybody plan a fabrication run for the printed circuit board that
would benefit from our added volume?

our time constraints would mean that we probably won't be able to
order before about 2-3 weeks from now and that we would need to take
delivery before the middle of december.

--

REALLY, instead of hyping low impact soles, I think what we need
are more low impact souls.
					Greg Jahn
Newsgroups: comp.robotics
From: jb@rti.rti.org
Subject: defn. "slip ring"
Keywords: slip ring(s)
Organization: Research Triangle Institute, RTP, NC
Date: Sun, 13 Sep 92 06:46:05 GMT

"slip ring [ELEC] A conductive rotating ring which, in combination with
a stationary brush, provides a continuous electrical connection between
rotating and stationary conductors; used in electric rotating
machinery, synchros, gyroscopes, and scanning radar antennas."

	- McGraw-Hill Dictionary of Scientific and Technical Terms
From: jonb@marel.is (Jon Benediktsson)
Newsgroups: comp.robotics
Subject: Robotics publications
Keywords: Robotics
Date: 9 Sep 92 17:05:07 GMT
Organization: Marel hf., Reykjavik, Iceland

Hi,

The comp.robotics FAQ list has the following publications on robotics listed,
among others.  I am interested in subscribing to some of these, but would like 
to know a little more about them, e.g. technical level, issues per year, how to 
subscribe etc.  They aren't available at my local bookstores or libraries.
Would anyone like to comment ?


	International Journal of Robotics and Automation

	Robotics and Autonomous Systems

	Robotics and Computer Integrated Manufacturing

	Robotics Today

	Robotics World

	Robotica - British journal


Thanks in advance,

Jon Benediktsson
Marel Inc.
Reykjavik
Iceland
Newsgroups: comp.robotics
From: kilian@cray.com (Alan Kilian)
Subject: Re: Stepper motor programs wanted
Organization: Cray Research, Inc.
Date: 8 Sep 92 16:29:17 CDT

Cyberneticc Micro Systems
PO Box 3000
San Gregorio CA, 94074
VOICE (415) 726-3000 FAX (415) 726-3003

Has a stepper motor controller chip that says:

The CY545 single chip stepper motor controller:
  - 27,000 steps/second
  - 40-pin CMOS 5 Volt chip
  - 16 million steps per motion                                  ???
  - Programmable startrate, accel/decel, slew rate
  - Pulse and direction output
  - Separate limit switches.  
  - Jog operation                                                ???
  - Home seek command
  - ASCII or binary commands
  - Parallel or serial interface
  - 8 general purpose I/O lines
  - External memory control                                      ???
  - LCD and LED display interface
  - Thumbwheel switch interface

$75.00 each ($25.00/1000s) 
From Electronic Design Sep 27 1990

-- 
 -Alan Kilian           kilian@cray.com 612.683.5499 (Work) 612.729.1652 (Home)
  Cray Research, Inc.   655 F Lone Oak Drive, Eagan  MN, 55121 
                        "It's based on actual math". -Dilbert
Newsgroups: comp.robotics
From: jrichard@cs.ulowell.edu (John 'MacGyver' Richardson)
Subject: Building Autonomous Robotics Book? (and more questions)
Organization: University of Massachusetts at Lowell Computer Science
Distribution: usa
Date: Thu, 10 Sep 1992 16:55:02 GMT


I haven't heard much about the Robot Building book (written by two
students at MIT's Mobot lab) lately.  Wasn't it supposed to be done
early in the fall?  

Is it possible to place orders at MIT press yet?  I forget the name
of it, so I can't call them to reserve a copy.

I'm dying for a copy! :)  In the meantime, I've got the "Squirt" paper,
the "Robust" paper, and the "Asynchronous" (and a few more) papers
published by Brooks and the Mobot lab.  Does anyone know of any 
really practical papers that a CS major could use to build a Mobot?

Also, I remember reading in the MIT student newspaper last year that 
there was a tour of the MOBOT lab.  I was unable to attend. :(  
Anyone know if they are planning a tour this year?

John 'MacGyver' Richardson |"sun dogs fire on the horizon        \ \   \
jrichard@cs.ulowell.edu    | meteor rain stars across the night   * *   \   /\
jrichard@duck.ulowell.edu  | ...the spark still flies                /\  * /  \
                           | reflected in another pair of eyes." /\ /  \/\/
                                                           ------  \   / /
From: ceb@csug.cs.reading.ac.uk (Colin Bridgewater)
Newsgroups: comp.robotics
Subject: Re: Neuron chips for robotics
Date: 15 Sep 92 17:48:01 GMT
Organization: University of Reading

demers@cs.ucsd.edu (David DeMers) writes:
>OK, I give up.  I came up with two dozen or so 3-word phrases
>that have LON as an acronym, but none seem to be satisfactory
>for this thread.  What's a "LON"?

LON is short for Local Operating Network.... It's a proprietary term coined
by Echelon (the US company set up by one of the founders of Apple) to make
their product instantly memorable. Apart, that is, from the initial costs ($)
of buying into the technology....

Colin

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.sig deleted due to apathy

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Newsgroups: comp.robotics