LynxMotion Robot Programming
LynxMotion Robot Programming
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Challenges for programming of a 6 DOF robot using the Denavit–Hartenberg Convention
Challenges for programming of a 6 DOF robot using the Denavit–Hartenberg Convention
Project Details
Python and Jupyter Notebook were used extensively
DH Convention used to create the robot's mathematical model
Conversion from joint space to electrical input
Jacobians to calculate motion paths and force on the joints
Although not terribly precise, the LynxMotion robots were able to perform multiple tasks autonomously
This project was part of the Introduction to Robotics Class offered at UND
The Robots were challenged to complete the Hanoi Tower problem (Left) and draw "circular objects" (Right)
Other tasks for the class included motion generation of theoretical robots, which were all done using symbolic Python
Below is an example of what motion plotting resembles for a 5 DOF Robot
Tying a whole semester together, the final project of this class was a simulation of certain types of motion
To complete the assignment, Carter created a python script which allows for any quintic function, as well as trigonometric functions, and converts it into joint space automatically (left)
ME439_Final.pdfComputerProblemMalone.docxThe result of this project and class was a much deeper understanding of complicated calculus and python programming
The result of this project and class was a much deeper understanding of complicated calculus and python programming
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