ROS - RPI - Robot Arm
Budget: $200 – $500 USD
Hi,
We have a SCARA robot arm on a vertical rail whose task is to pick up and deliver boxes between a shuttle and a vertical column with 33 shelf compartments stacked on top of each other, 90mm apart.
A shelf has two paths, one pickup path and one delivery path. All 33 shelves use the same two paths except that the Z-axis adds 90mm for each shelf-level it reaches up to.
Your task is to make the arm follow a predefined path with multiple predefined XYZ points organically and smoothly and without any jerkiness. URDF-file is available, but I need some help/ideas on how to create the paths the simplest way.
The controller is an RPI4 with a 2-channel CANBUS HAT-board. Motors are communicating via CANBUS. We had another guy making the motors spin, so that part is done, but how well, I don’t know, so you need to take a look at it as I’m not an electronic/programming guy.
We need you to be able to dedicate this your full time till it all works, as we are on a time constrain. Start the reply with helllO pEter@, as it is, with its errors, to prove that you have read this till this end. We are a poor startup company so we are very price sensitive, but if you excel, you will be a part of our Employee and Partner bonus program, earning your healthy yearly bonus based on future earnings.
We have a SCARA robot arm on a vertical rail whose task is to pick up and deliver boxes between a shuttle and a vertical column with 33 shelf compartments stacked on top of each other, 90mm apart.
A shelf has two paths, one pickup path and one delivery path. All 33 shelves use the same two paths except that the Z-axis adds 90mm for each shelf-level it reaches up to.
Your task is to make the arm follow a predefined path with multiple predefined XYZ points organically and smoothly and without any jerkiness. URDF-file is available, but I need some help/ideas on how to create the paths the simplest way.
The controller is an RPI4 with a 2-channel CANBUS HAT-board. Motors are communicating via CANBUS. We had another guy making the motors spin, so that part is done, but how well, I don’t know, so you need to take a look at it as I’m not an electronic/programming guy.
We need you to be able to dedicate this your full time till it all works, as we are on a time constrain. Start the reply with helllO pEter@, as it is, with its errors, to prove that you have read this till this end. We are a poor startup company so we are very price sensitive, but if you excel, you will be a part of our Employee and Partner bonus program, earning your healthy yearly bonus based on future earnings.