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A simple demo to show how Pelion Edge can be used to control a 6 DoF robot arms.

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DemoRobot

A simple demo to show how Pelion Edge can be used to control a 6 DoF robot arm.

It primarily shows the Pelion Edge’s protocol translator capabilities. The robot arm in this demo is basically constructed with 6 servos, and there is a controller board which provides a serial communication programming interface and its relevant proprietary protocol. With Pelion Edge, we can easily implement a protocol translator using the JSON-RPC API, which maps each of the servo to a LwM2M resource, then all of them can be controlled from any mobile or web based applications remotely. Within this demo, we also provide a webpage with Node-Red. From a mobile, you can open the link and use a slider to control the position of servos, and you can also send command (group action) to let the robot moves servos to target position at once.

LwM2M Object Mapping

Single Servo Control

Servo1 ---> /3337/0
Servo2 ---> /3337/1
Servo3 ---> /3337/2
Servo4 ---> /3337/3
Servo5 ---> /3337/4
Servo6 ---> /3337/5

For each servo, there are 2 resources -

/3337/0/5536 identifies the current position of servo #1;
/3337/0/5537 identifies the transition time when the servo is to move to a new position;

Group Action of Servos

The robot arm's control board supports execution of group actions, which is to move servos to target positions in a single command. I.E group action #1 moves several servos back and forth to complete a task of pick up an physical object and put it into a box. The specific position of servos and moving sequences are stored in the control board. A customized LwM2M object 10315 is defined to support this feature. /10315/0/7 is an executable resource that starts the execution of a group action that identified by an integer number. /10315/0/8 is an executable resource that stops the execution of current group action.

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A simple demo to show how Pelion Edge can be used to control a 6 DoF robot arms.

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