Robotic Portrait
Robot artist drawing portrait on E-paper! The robot takes photo with face tracking camera, converting into a binary portrait with AI, generating tool path and joint solutions, finally draw it on a tablet.
Insertion Task
Space robots usually require compliance with force feedback. This setup is to mimic a 3-link planar robotic arm performing an insertion task.
Predictive Motion Planning
Robot motion control in real time is a challenging task, especially with multiple robots sharing the same workspace. I build a simple workspace in Gazebo and use Tesseract to retrieve collision distance (vectors between closest points on both arms). Predictive planning means each robot motion controller looks ahead N-step future and generate N-step command that minimize the end configuration difference with a collision free trajectory.
Robot End Effector Vision Calibration
Robotic vision system requires knowledge of transformation between robot base frame and world frame. This simple tool performs a regression using Aruco tags to calculate robot base frame pose.
Compliance Control
Compliance control with Tormach ZA06, adapt end effector motion to human force input.
Robot Laser Tracking
A camera is mounted on the robot end effector, with an active laser dot identification thread running. The robot moves to track the laser dot position to the image center.