Embedded Files
The Software Components of the TriFinger can be mainly divided into 2 major components, the Arduino script running inside the Arduino Mega and the Graphical User Interface which runs in the computer for the user to input. the GUI's sole purpose is to create an easier interaction between the user and the TriFinger while the Scripts works as the brain and control and orchestrate the actuators
Graphical User Interface
Graphical User Interface
The Graphical User Interface ( GUI ) is design to achieve an easier user interaction with the robot. The GUI is designed through Windows Form Application which runs in C#. The message constructed is sent to the Arduino through the serial port. The GUI is divided into 4 features. Starting with the top button is the home button. This button is very crucial since it allows the whole robot to calibrate its current position and go back to the origin. The second feature is the global axis feature which allows all 3 fingers to that specific position. The third feature is the grab and release button which allows the TriFinger to do a grab and release mechanism. Lastly, for testing purposes, we added a finger angle feature to run each specific motor a specific angle.
TriFInger Graphical User Interface
Arduino Software Architecture
Arduino Software
Arduino Software
The Arduino Software Architecture is mainly consists of 5 major components. the first step of the code is receiving the information from the GUI and parse it into important information. These coordinates are then divided into relative coordinates corresponding to the origin of each finger. these coordinates are then translated into angles per finger joints or arms through inverse kinematics. The angles are then divided equally to each steps which varies across different motors and positions. The steps are run by a specific function to each motors in the TriFinger.
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