Pictures

Here are photographs of our valiant soldiers in battle. If you think they look beaten up, you should have seen the other guys!


Photo A

A. Pictured here is Bumble Bee in its original box, the way he is born to be.


Photo B

B. Pictured here is Bumble Bee in what we call its 'HOME' Position. Motor 1* is inline with the battery box, and the remaining motors are positioned so that the robot arms are in an 'elbow up' orientation.


Photo C

C. Pictured is our H-bridges connected to the Arduino microprocessor (under the hood stuff).



Photo D

D. This picture shows a malfunctioning Decepticon that is no longer self-aware. It moves without regard to its own limbs (outside of its work space -- physical constraints). This was one of the main issues we encountered when implementing inverse kinematics to move the robot arms. Our initial trajectory and corresponding thetas were resulting in self-hindrance by the robot. This stopped the motors from reaching their end goal and if allowed to continue could result in damage to the motors.


* The motors are labeled 1-5 in sequential order starting with the base motor with is touching the table.