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| ece4560:lynx6:04pnp [2017/11/04 19:34] – [The Routine] pvela | ece4560:lynx6:04pnp [2024/08/20 21:38] (current) – external edit 127.0.0.1 |
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| As noted in the [[ECE4560:piktul:pnp|piktul Pick'N'Place]] adventure, the value of a robotic arm is in its ability to perform repetitive movements with high precision. While the Lynx-6 is probably more inaccurate than the piktul given that it must contend with gravity effects that impact the joint space, it should perform well enough to reliably pick up an object at the desired configuration with parallel plate grippers (like those of the piktul and most of the Lynx-6 robots). | As noted in the [[ECE4560:piktul:04pnp|piktul Pick'N'Place]] adventure, the value of a robotic arm is in its ability to perform repetitive movements with high precision. While the Lynx-6 is probably more inaccurate than the piktul given that it must contend with gravity effects that impact the joint space, it should perform well enough to reliably pick up an object at the desired configuration with parallel plate grippers (like those of the piktul and most of the Lynx-6 robots). |
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| Since the Lynx-6 is a full 3D robotic arm, the pick and place end-effector configurations will be given as $SE(3)$ elements. The procedure should go more or less the same with the pick and place routine commanding the manipulator to specific end-effector $SE(3)$ configuration and gripper opening. At that //pick// configuration it then lowers the arm to the height of the object to grasp it. Once there, the gripper should close enough to grab it (but not to stress and break the motor gears). The manipulator arm raises, moves to be "above" the //place// $SE(3)$ configuration, then lowers. The gripper is opened to release the object, then raised. Once raised, it returns to the home position. | Since the Lynx-6 is a full 3D robotic arm, the pick and place end-effector configurations will be given as $SE(3)$ elements. The procedure should go more or less the same with the pick and place routine commanding the manipulator to specific end-effector $SE(3)$ configuration and gripper opening. At that //pick// configuration it then lowers the arm to the height of the object to grasp it. Once there, the gripper should close enough to grab it (but not to stress and break the motor gears). The manipulator arm raises, moves to be "above" the //place// $SE(3)$ configuration, then lowers. The gripper is opened to release the object, then raised. Once raised, it returns to the home position. |
| Ideally, the program should pre-compute all of the joint configuration and timings, place them in a matrix and a vector, respectively, then just execute in a ''for'' loop. that's really the easiest as it recycles a lot of prior code. | Ideally, the program should pre-compute all of the joint configuration and timings, place them in a matrix and a vector, respectively, then just execute in a ''for'' loop. that's really the easiest as it recycles a lot of prior code. |
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| **Demo movie** {{ECE4560:lynx6:picknplace.mov|here}}. | **Demo movie** {{http://pvela.gatech.edu/classes/media/lynx6PickPlace.mov|here}}. You may have to download to play, until I figure out how to embed. In the movie, I place a block at the initial |
| | location, a Kroger plus card at the final location, then let the manipulator do its thing. If you programmed it right and calibrated it properly, your program should execute like mine. Good luck! |
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| | A former student from the first time that the manipulation track was included in the course uploaded [[https://www.youtube.com/watch?v=XriKSyoT22I|onto YouTube]] his own version of pick and place with three stacked blocks. Even gave it a soundtrack! |
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