hi,

I am new to embedded systems...would like to know the following things..

To develop 2 or 3 DOF force feedback master-slave manipulator
 
1. which micro controller is a good choice with 2/3 quadrature encoder
interfacing facility

2. what are the skills required for the project

3. Any information sources like books etc?

4. I want to implement bilateral position and force loops in the control
architecture

any information useful for this project implementation is very helpful to
me and thankful to ppl providing the information here 



	   
					
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Posted through http://www.EmbeddedRelated.com

In article <e...@giganews.com>, 
m...@n_o_s_p_a_m.gmail.com says...
> 
> hi,
> 
> I am new to embedded systems...would like to know the following things..
> 
> To develop 2 or 3 DOF force feedback master-slave manipulator
>  
> 1. which micro controller is a good choice with 2/3 quadrature encoder
> interfacing facility
> 
> 2. what are the skills required for the project

Sytem analysis - to work out what has to be done BEFORE even thinking of
which hardware, language, OS or other implementation factors.

Do some top down design of system requirements and expand each section
until you know what you require. Start with the mechabical drive systems
how fast they will be, how fast they respond to change and all those
limitations before going any further.

> 
> 3. Any information sources like books etc?
> 
> 4. I want to implement bilateral position and force loops in the control
> architecture
> 
> any information useful for this project implementation is very helpful to
> me and thankful to ppl providing the information here 
> 
> 

Without knowing lots of details about mechanical limitations, speed of 
response, how this is to be controlled (human operator, automatic 
sequence, etc..), anything from an 8 bit micro to a Cray could do
the job. Hopw well it will work is not knowable.


-- 
Paul Carpenter          | p...@pcserviceselectronics.co.uk
<http://www.pcserviceselectronics.co.uk/>    PC Services
<http://www.pcserviceselectronics.co.uk/fonts/> Timing Diagram Font
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<http://www.badweb.org.uk/> For those web sites you hate

reddy32 wrote:

> hi,
> 
> I am new to embedded systems...would like to know the following things..
> 
> To develop 2 or 3 DOF force feedback master-slave manipulator
>  
> 1. which micro controller is a good choice with 2/3 quadrature encoder
> interfacing facility
> 
> 2. what are the skills required for the project
> 
> 3. Any information sources like books etc?
> 
> 4. I want to implement bilateral position and force loops in the control
> architecture
> 
> any information useful for this project implementation is very helpful to
> me and thankful to ppl providing the information here

As Paul carpenter has already indicated, you need to do some analysis work 
to improve the quality and depth of your system requirements. Start with the 
end-effector outputs and work towards the inputs. You have a human operator 
in the loop so don't forget to include his/her actions as part of the focus 
of system analysis. This link might help your thoughts on that a little. 

<http://oai.dtic.mil/oai/oai?verb=getRecord&metadataPrefix=html&identifier­A102574>

Additionally, you will need to look at the force sensing mechanisms that 
will be useful to you (motor current, strain gauges, etc). Which technology 
you choose will depend on your mechanical constraints.

-- 
********************************************************************
Paul E. Bennett...............<email://P...@topmail.co.uk>
Forth based HIDECS Consultancy
Mob: +44 (0)7811-639972
Tel: +44 (0)1235-510979
Going Forth Safely ..... EBA. www.electric-boat-association.org.uk..
********************************************************************

On Mon, 11 Jun 2012 07:20:58 -0500, reddy32 wrote:

> hi,
> 
> I am new to embedded systems...would like to know the following things..
> 
> To develop 2 or 3 DOF force feedback master-slave manipulator
>  
> 1. which micro controller is a good choice with 2/3 quadrature encoder
> interfacing facility

Lots of different ones, depending on what you're trying to accomplish, 
and what your constraints are.

> 2. what are the skills required for the project

To start, the ability to identify what you're trying to accomplish, and 
what your constraints are.

> 3. Any information sources like books etc?

I picked up system design skills by osmosis over the years.  There is a 
formal association of systems design engineers who describe the job the 
same way I do -- you may want to dig up their web site and see what they 
recommend.

> 4. I want to implement bilateral position and force loops in the control
> architecture

That's nice -- what's a bilateral position and force loop?  One of the 
first thing you have to learn as a systems engineer is that the language 
is different from one specialty to another, and it's your job to 
understand who speaks what, and try to express things so that all the 
disciplines involved will understand what you mean without ambiguity.

> any information useful for this project implementation is very helpful
> to me and thankful to ppl providing the information here

The most important steps in identifying a microprocessor are going to be 
to identify the various measurements and actuators you need to take to 
make this work, the degree of precision that you need in your various 
measurements and actuators, the bandwidths that you need to sustain, and 
the complexity of the controller (paying particular attention to whether 
the math involved needs to include potentially "expensive" operations 
like divide or trig functions or log or exponentiation, etc).

From that information you can derive the necessary data path widths, 
sampling rates, and execution complexity.  From _that_ you can get an 
idea of what the microprocessor core needs to be capable of, and then you 
can go shopping for a micro that has the necessary horsepower and a nice 
set of peripherals.

My advise, if this is going to be a one-off and you're not limited in 
size, weight, or power consumption -- and particularly if this is a 
student project -- is to get the BIGGEST MICROPROCESSOR YOU CAN AFFORD.  
Using 5% of the processor capability to get the job done is merely 
wasteful.  Needing 400% more capability than your processor has means 
that your project has failed.

-- 
My liberal friends think I'm a conservative kook.
My conservative friends think I'm a liberal kook.
Why am I not happy that they have found common ground?

Tim Wescott, Communications, Control, Circuits & Software
http://www.wescottdesign.com

>  books ?

For old fashioned manipulators there are a few:

McCloy, Harris "Robotics An Introduction" Open University Press 1986
   ( Has a very readable chapter on manipulators )

Vertut, Coiffet "Teleoperation and Telerobotics"
   "Evolution and development"   Volume 3A   Kogan Press 1985
   "Applications and Technology" Volume 3B   Kogan Press 1985
   ( author: French nuclear industry ; comprehensive but a bit
     hard to read )

Köhler "Typenbuch der Manipulatoren / Manipulator Type Book"
   Thiemig 1981  ( author: german nuclear industry ;
     a collection of specs and photos of commercially
     available systems of its day ; but only few detailed
     descriptions )

Thring "Robots and Telechirs" ellis horwood 1983
     ( Thring is a somewhat idiosyncratic but likable fellow ;
       the book is readable and a usefull introduction )

Vintage:
NASA SP-5047 "Teleoperators and Human augmentation" 1967
NASA SP-5070 "Teleoperator Controls" 1968
NASA SP-5081 "Advancements in Teleoperator Systems" 1970
   Later some of that was published as:
   Johnson, Corliss "Human Factors Applications in
   Teleoperator Design and Operation" Wiley 1971

 > what are the skills required for the project
Beeing able to build the mechanical part of the system ?

But i guess for students a Matlab simulation will do ...

MfG JRD

Tim Wescott <t...@seemywebsite.com> wrote:

> My advise, if this is going to be a one-off and you're not limited in
> size, weight, or power consumption -- and particularly if this is a 
> student project -- is to get the BIGGEST MICROPROCESSOR YOU CAN AFFORD.
> Using 5% of the processor capability to get the job done is merely 
> wasteful.  Needing 400% more capability than your processor has means
> that your project has failed.

or you can just use matlab/simulnk or scilab/scicos with for example
www.rtai.org for a fast developement and test (with a I/O board
connected to your pc).

Bye Jack
-- 
Yoda of Borg am I! Assimilated shall you be! Futile resistance is, hmm?