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5-4-TE Manipulator

Manipulator without linear joints
Time & Engineering awards

The loggic is next:
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distance from laser ranger = distance to object.
1'st joint = 'Z' Rotation;
2'nd & 3'rd joints = 'XY' Rotations; // Relative to 1'st joint
4'th joint = 'XY' Rotation of the tool (suction cup), auto-aligned to be perpendicular to the ground.
robot is using forward kinematics to calculate its tool 'x' and 'y' coordinates (relative to its initial orientation):
x coordinate = sin(2'nd joint angle)*(length of 1'st link) + sin(2'nd joint angle + 3'rd joint angle)*(length of 2'nd link)
y coordinate = cos(2'nd joint angle)*(length of 1'st link) + cos(2'nd joint angle + 3'rd joint angle)*(length of 2'nd link)
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1. If (distance to object < 2), then initiate first joint rotation.
2. if ((distance to object < 1.5) & (tool 'x' coordiante < distance to object)), then stretch out the arm. // 2'nd & 3'rd joints
3. if (color = red|green), then stop stretching and try to grab the object. // 2'nd joint
4. if(tool 'y' coordinate < certain value), then try to regrab. // 2'nd joint
5. if(suction cup is locked & object has the right color), then put object on the appropriate conveyor.
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