- make sure you have the same configure of the robot hardware, or at least similar. If your robot hardware setup is not identical as ours, please modify corresponding parameters in the code.
- make sure you have the following packages and have the SDK installed
numpyopencv-python
SDK installationhttps://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/python_windows/#python-windows or https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/python_linux/#python-linux - Navigate to
test/protocol1_0 - run the command
python proj.py - use command line to interact with the program
The project aims to build a 5-dof decoupled serial robot arm with spherical wrist(no rotation freedom)
The robot arm is supposed to write and draw on plane or sphere surface, with a given input image.
The hardware of the project includes the robot arm, using the Dynamixel AX-12A servo https://emanual.robotis.com/docs/en/dxl/ax/ax-12a/ and other structural connectors in Dynamixel Bioloid Premium https://emanual.robotis.com/docs/en/edu/bioloid/premium/ kit and some 3D-print parts, with Dynamixel u2d2 https://emanual.robotis.com/docs/en/parts/interface/u2d2/ for communication with a PC, and a PC running python scripts in Windows 10. The pen is a mark pen and using a spring to provide a constant force with the contact surface.
The software part of the project is the python script. It uses opencv-python and numpy for image processing, then map the processed critical tarjectory point to the surface to draw on. Inverse kinematics is then preformed to map the pose of the end-of-effector to configure space of the joints. Finally the Dynamixel SDK is called to drive the servos.
The servo driver is a modified version of https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/sample_code/python_read_write_protocol_1_0/#python-read-write-protocol-10
opencv-python: https://pypi.org/project/opencv-python/
numpy: https://numpy.org/
Most codes in this repo are servo SDK, and are clone from the Dynamixel repo.The code corresponding to what above is at https://github.com/BigBillZhao/SUSTech_ME331_proj/blob/master/tests/protocol1_0/porj.py
(not list in order)
CHEN Zhenyang
ZHAO Yuntian
GAO Chengyuan
HE Rui
CHE Haichuan
LIN Zijun
We would like to thank Prof. FU Chenglong for his dedicated teaching and instrction and thank Prof. JIA Zhengzhong, LIN Shiyuan and LI Yifei in ROMA Lab for kindly advice and support of this project.