One of my current projects is refining my robot arm, the use of the Robotic Operating System (ROS) has been instrumental. The open-source nature of ROS has provided a solid foundation for seamless communication among various components such as the smart Dynamixel servo motors. Looking forward, I aim to elevate the project by integrating the Xbox Kinect, providing the robot arm with a 3D understanding of its environment, and incorporating MoveIt motion planning for enhanced precision and flexibility.
ROS at the Core
ROS has served as the backbone of my robot arm project, offering a reliable framework for effective communication between its components. One of the first steps I took when setting up ROS with the robotic arm was to get a visualization of the robot arm in RViz. This was especially cool as the smart servo motors I used were able to provide feedback on their current position and temperature. This allowed me to visualize the robot arm in RViz and see the real-time feedback from the servo motors.
MoveIt Motion Planning
To ensure the robot arm moves with accuracy and flexibility, MoveIt motion planning is a key addition. This tool serves as the operational brain, enabling the arm to navigate its environment precisely. The integration of MoveIt not only enhances motion capabilities but also expands the potential for intricate tasks and maneuvers. I am currently learning how to use MoveIt to its full potential, and I am excited to see the results.
Fixing problems
When I first started working with the robot arm, I noticed that the gripper was actually damaged and needed to be replaced. I was able to use my skills in CAD design to create a new gripper that I 3D printer and installed on the robot arm. This was a great learning experience and I was able to get the robot arm in action once more.
Software Utilized
