Solstici0/scara_robot

A python library and documentation to interact with Solsticio's Selective Compliance Articulated Robot Arm

SCARA

A python library and documentation to interact with Solsticio's Selective Compliance Articulated Robot Arm

You can read the SCARA robot documentation here

Connecting with the real robot

If the SCARA network is available, you can connect with the robot via ssh. To achieve that do:

1. Connect to the SCARA netwotk. the password is: scara_nelen
2. Connect to the robot using the ssh protocol:

$ ssh ubuntu@192.168.0.101 
# password: rfidudes 
# Then activate the nelen env (already created)
$ source nelen/bin/activate

Usage

You can start by creating a virtual environment and install scara package in development mode:

$ python -m venv nelen
$ source nelen/bin/activate
$ pip install -e .

Then you can validate that everything is working well by importing the library and create an scara object

$ python 
>>> import scara
>>> scara.Robot()

Tree structure

TODO

Hardware

• Install Pull-up pcbs
• Install CAN pcb
• Install fans
• Include minimum hardware documentation

Software

• Define project structure
• Include logger
• Code minimum methods
  • Inverse kinematics
  • Homing and initializaiton
  • Joint class
  • Scara class
• Include tests
  • Inverse kinematics
  • With FakeOdrv
• Handle errors!

Mechanical

• Drill octagonal plate
• Weld octagonal plate to structure
• Fabricate wheel plates
• Weld wheel plates to structure
• Buy and install wheels
• Drill structure and install electrical box

All

• Improve documentation
  • Include introduction
  • Include links to thesis

References