Design of robotic interface that is semi-autonomous.
The robot is assisted by a master with a baton ( similar to a maestro using baton in a symphony) in 3d space.
The movement of baton in 3d space tells the robot about the different constraints and movement positions.
The idea is to create a house hold robot that can be instructed by a hand held 3d baton.
The baton is made of 3 axis Accelerometer for getting the movements and a vibrator to communicate the instructions ( movements of baton) have been recieved.
The interface to baton is via arduino kit. Arduino boards reads all the instructions and sends to a computer over serial interface.
Those instructions are then analyzed by a desktop computer ( duo core amd 2.0 GHZ with 2 gb ram) and these 3d motions then get converted into x,y motions
z translation is not currently used but will be later considered for warping of the surface to overcome calculation errors because of non orthogonal plane between master and robot.
These movements or instructions are then used be computer to analyse the gesture or plain analyze the movement in x,y and after calculating the distance feeds the inputs into controller.
Controller is a separate software process that runs on the desktop computer which control a 8-relay board.
The 8-relay board is the switch for different motors to control the motion of robot on a surface.
Each individual relay turns on a motor in forward or backward direction.
(complete instructions)