Author: Steven Edwards
Date: 12:59:22 10/25/04
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On October 25, 2004 at 13:07:32, Ismenio Sousa wrote: >I'm not sure if we could get people around here to at least try to negotiate a >discount with the vendor. I think they're operating on a fairly small margin, so any discount would be limited. >How about the software components? Do you think you could have an open conduit >or an interface that could be used to replay games stored in a computer? Servos need servo input, so some electronics are required. I would go for the minimum and let the controlling computer figure out the positioning (kinematics). The interface to the computer would be USB or serial; my preference is for the former as it's more general. (Few Apple computers have any serial ports.) A separate power supply is needed for the arm as the servos draw too much current for the 500 mA USB limit. I'd write the kinematics software as a simple task that communicated via a pipe to a controlling chess program. Motion commands would be like "move to e2" "grasp" "move to e4" "ungrasp" "move to neutral" etc. Outputs would be "completed" and various fault indications. The software would also have to know about moving pieces to and from offboard locations for captures, promotions, and resetting the initial position. And when the chess playing program resigns, the arm could be commanded to toss its king across the room (the Alekhine option) or go for the human opponent's neck (the Bloodgood option). Just kidding on that last one.
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