This project uses 15 servo motors to articulate a robotic hand to rotate a platform, based on the popular project "Axis" made by Mark Setrakian. The hand will automatically correct the platform position if it starts to drift off center. A video of the original device in action can be seen here and our device here.
The control algorithm plan trajectories for each of the 3-DOF fingers and calculates the inverse kinematic solutions to each discritized path. The Product of Exponentials forward kinematic solution is used, as well as a standard root solver for the inverse kinematics.
A Raspberry Pi 3 Model B+ runs all the control algorithms. A Logitech C270 webcam provides visual feedback and the servo's used in the fingers are Lynx Motion HT1's.
- Python 3.6
- Scipy 1.3.2
- Matplotlib 3.1.1
- OpenCV 4.1.1.26
- Imultils 0.5.3
- Lynxmotion Smart Servo Library