Robot Arm Programming - ROS, RPI4 and CANBUS
Budget: $200 – $500 USD
Hi, I have built a SCARA robot-arm, and I had a freelancer who just disappeared, working on it. There is an RPI4 with a CANBUS communication with the motors. The previous freelancer has manage to control 3 of 4 motors, but still
Done till now:
Hardware interface program written to operate motors over CANBUS. The program runs on RPI4 with Ubuntu OS as a ros node. Small GUI to send position commands to 3 of the 4 motors.
Next to do, suggested by the previous freelancer:
- Create a ROS based state diagram for a reliable and efficient robot operation. Which includes Power on, Run, Pause, Resume and Stop states.
- Develop Inverse kinematics model of the robot and write ROS service to compute IK upon request.
- Develop software to interact with a main computer over the CAN bus.
- Simulate the state machine and IK model for fixed tool target positions.
- Interface robot to control the package developed above via hardware interface and test the robot's real operation.
- Do fine tunes and get the system ready.
About the project:
3 of its axes are driven by closed-loop stepper motors, each with its own internal driver and encoder and CANBUS connection. The 4th axis, for vertical movement, is a regular industrial servo motor that comes with an externa servo driver that is also connected via CANBUS.
The arm will have 34 fixed points in space where is will pickup or deliver a small plastic containers. Pickup sequence will have its own standard travel path and deliver sequence will have it own as well. The differences is how it hooks into the container and unhooks it. So 2 slightly different paths, and 34 fixed "end points"
Please don't us AI to generate your reply, but write me a personal reply and let me know your rough ideas and thoughts of how this can be archived. Start your reply with "Ahloa PEter" to confirm that you have read it all. Capital E too.
Done till now:
Hardware interface program written to operate motors over CANBUS. The program runs on RPI4 with Ubuntu OS as a ros node. Small GUI to send position commands to 3 of the 4 motors.
Next to do, suggested by the previous freelancer:
- Create a ROS based state diagram for a reliable and efficient robot operation. Which includes Power on, Run, Pause, Resume and Stop states.
- Develop Inverse kinematics model of the robot and write ROS service to compute IK upon request.
- Develop software to interact with a main computer over the CAN bus.
- Simulate the state machine and IK model for fixed tool target positions.
- Interface robot to control the package developed above via hardware interface and test the robot's real operation.
- Do fine tunes and get the system ready.
About the project:
3 of its axes are driven by closed-loop stepper motors, each with its own internal driver and encoder and CANBUS connection. The 4th axis, for vertical movement, is a regular industrial servo motor that comes with an externa servo driver that is also connected via CANBUS.
The arm will have 34 fixed points in space where is will pickup or deliver a small plastic containers. Pickup sequence will have its own standard travel path and deliver sequence will have it own as well. The differences is how it hooks into the container and unhooks it. So 2 slightly different paths, and 34 fixed "end points"
Please don't us AI to generate your reply, but write me a personal reply and let me know your rough ideas and thoughts of how this can be archived. Start your reply with "Ahloa PEter" to confirm that you have read it all. Capital E too.