[[TableOfContents]]

== Information ==
I planned this project for my graduation paper.
~~If you want to join this project, please write your name on the "Comment" part.~~
Actually, this project was combined with "Capstone Design (2)"

Caution
- I will spend a lot of money for the project.
- This project requires a lot of effort and time, and this page will be not regularly uploaded.

Reference
- https://robots.ros.org
- Introduction To Robotics: Analysis, Control, Appl Ications [https://www.amazon.com/Introduction-Robotics-Analysis-Control-Applications/dp/0470604468/ref=sr_1_1?keywords=introduction+to+robotics%3A+analysis%2C+control%2C+applications&qid=1552450700&s=gateway&sr=8-1 amazon]
 
== Plan ==
- Learn how to use modeling program (CAD, Solidworks)
- Learn how to use 3D printer
- Learn using Open-Source board

== Progress ==
=== Definition ===
In robotics a manipulator is a device used to manipulate materials without direct contact. 
Easily, it is called as robot arm.

refer
 * [https://en.wikipedia.org/wiki/Manipulator_(device) Manipulator_(device)]
 * https://en.wikipedia.org/wiki/Robotic_arm
=== Resource ===
3D printer
~~- I contacted with [http://fma.cau.ac.kr FMA] lab.~~
~~- I got a agreement to fix it, so I will handle it.~~
- Filament: ABS (Acrylonitrile, Butadiene, Styrene), PLA (Polyactic Acid)
For postprocessing, I poured lots of time.
Please use ABS, if your model is not final one or your printer is cheap.

=== Material ===
Actuator: XM430-W350-T
Cicuit: OpenCR 1.0
Frame: FR12-S101-K, FR12-S102-K, FR12-H101-K, FR12-H104-K
Miscellaneous: WB-M2x3,4/ WB-M2.5x4, 6, 8, 12 / WB-M3x10

=== Printing ===
Hard to print model, require lot of efforts

== Capstone Design Project ==
=== Controller ===
Design trajectory

== Comments ==
I finished building robot-arm during the capstone design project (2).
It had required a lot of effort. I had spent almost 6 weeks to finish made a robot.
Thank you. Jun. 10. 2019
== Back page ==
 * [Robot_Study]
 * [우준혁]