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Robotic Arm Laboratory
==> Irene The Robotic Arm laboratory is composed of the following hardware pieces: (1) a physical robotic arm connected to (2) an Arduino UNO board which is, in turn, connected to (3) a Raspberry Pi B microcomputer. The robotic arm has several DC motors to move the different parts on it, named as: base, shoulder, elbow, wrist and clamp. The Arduino microcontroller allows the interaction with the motors. The Raspberry Pi microcomputer operates as a websocket server, opening the interaction with the remote laboratory to Internet.
The Robotic Arm is composed of the following software pieces: (1) “node_socketio” folder, which contains set of html files that represent the different elements of the Robotic Arm into the client browser: “led.html”, “clamp.html”, “wrist.html”, “elbow.html”, “shoulder.html” and “base.html”; and the server source code that handles the websocket connections. They are all installed in the Raspberry Pi.(2) "js" folder containing the "server.js" file. (3) “modules” folder containing the libraries needed: “node.js”, “socket.io” and “serialport”. (4) “arduino” folder which contains the software to be installed in the Arduino board. ¿Dónde estaría físicamente la librería bootstrap? ==> Irene
Robotic Arm is a website platform that interacts remotely with hardware laboratory. This hardware laboratory is built in Arduino board and has a Robotic Arm connected. So with this repository you can control the Robotic Arm and its services using wbsockets trough Raspberry Pi from any place in the world.
==> Irene
The file named "robotic_arm.ino" must be downloaded to the Arduino board into the "/arduino/robotic_arm" folder.
The server software is installed in the Raspberry Pi and is composed of a single "server.js" file located in "$HOME_DIR/js" folder. This "server.js" file opens, through the "serialport" library, a serial port communication channel with the Arduino board. The Raspberry Pi also contains the libraries needed to open websockets communication channels with the client. ==> Irene
The file of server side are located into ../js/ folder (server.js). This file manage and open the serial port (Arduino communicaton) and websockets using Raspberry Pi architecture.
Remember load into Arduino board the file located into ../arduino/ folder (robotic_arm.ino).
==> Irene The Raspberry Pi microcomputer also contains the client software composed of a "$HOME_DIR/robotic_arm" folder where the initial "index.html" file is located and a "$HOME_DIR/node_socket.io" folder with the html files that represent the different elements of the Robotic Arm into the client browser: “led.html”, “clamp.html”, “wrist.html”, “elbow.html”, “shoulder.html” and “base.html”. They allow to:
-Switch on and off the led
-Open and close the clamp
-Move the wrist forward and backward
-Move the elbow forward and backward
-Move the shoulder forward and backward
-Move the base to the left and to the rigth
Should you need further information on how to install the files into Raspberry Pi, please visit: How to use Node.js and Socket.io laboratories with Raspberry Pi and Arduino
==> Irene
“node_socketio” folder, which contains set of html files that represent the different elements of the Robotic Arm into the client browser: “led.html”, “clamp.html”, “wrist.html”, “elbow.html”, “shoulder.html” and “base.html”
The file of client side is into ../robotic_arm/ folder (index.html). This file uses the bootstrap library and let the client access to a simple interface to manage the values of different services in the Robotic Arm. The services related are:
-Move the wrist of the robotic arm to forward and backward
-Move the elbow of the robotic arm to forward and backward
-Move the shoulder of the robotic arm to forward and backward
-Move the base of the robotic arm to left and rigth
-Move the clamp of the robotic arm to open and close
-Turn on and turn off the led of the robotic arm
==> Irene Each of the html files draws an slider, with 5 positions. Selecting a position and clicking on the "send" buttom allows the interaction.
==> Irene
When you go to different xxxx.html file (vary with the service) you can see 1 slider. The slider controls the optoins of every service. You only have to select the position of the slider and click on the button to send this position to the raspberry Pi and to Arduino. So the robotic arm starts to move or acts with the service or services selected.
If you need information about the process to install the files into Raspberry Pi, please visit: How to use Node.js and Socket.io laboratories with Raspberry Pi and Arduino