ME/CS/EE 134: Robotic Systems
Winter 2022
Embedded Files
The final design for our robot has 5 degrees of freedom, along with a suction cup and vacuum pump run via the rosserial_arduino node. This allows us to pick up puzzle pieces even when they are at slight angles.
This class involves building 3+ DOF arms, programming them using ROS, and getting them to perform simple tasks. We are currently working with a 3 DOF arm to perform preliminary tasks such as gravity balance, accurate positioning, and movement using quintic splines. For the final project in this class, we switched to a 5 DOF arm that was able to solve jigsaw puzzles.
Course description: This course builds up, and brings to practice, the elements of robotic systems at the intersection of hardware, kinematics and control, computer vision, and autonomous behaviors. It presents selected topics from these domains, focusing on their integration into a full sense-thinkact robot. The lectures will drive team-based projects, progressing from building custom robots to writing software and implementing all necessary aspects. Working systems will autonomously operate and complete their tasks during final demonstrations.
Google Sites
Report abuse