Arm Movement - RoBorregos/smart-factory GitHub Wiki

Overview

Arm Movement is crucial in the project, as it defines how we are going to grab our objects, and how we are going to move them around. You need to consider several points, such as safety of the routine you are going to do, how fast do you want the arms to move, the acceleration, etc.

Actual state

Some predefined routines have been programmed to test the arm movement, as well as to test the velocities available. These predefined routines helped to see how the arm could reach certain objects, as well as to test the service made in ROS, to send the coordinates and move the arm depending on those coordinates.

Additional modifications and improvements

The integration with the vision system still needs to be done. The vision system will send the real coordinates of the object we want to grab, and the arm should move accordingly to these coordinates.
Exact calculations of Pitch, Yaw and Roll still need to be implemented.