Robotic Arm Inverse Kinematics for Rover
Problem statement
The IK component includes the development, testing, and implementation of algorithms that calculate the required joint positions for the arm to achieve a desired end-effector position and orientation in three-dimensional space. The IK system must be optimized for accuracy, computation efficiency, and compatibility with the arm’s four degrees of freedom. It will also be used to develop and implement an autonomous keyboard-typing program capable of completing the University Rover Challenge (URC) keyboard task without operator intervention. This task consists of typing individual letters on an 87-key vertically-positioned mechanical keyboard. In addition, the team will establish learning tools and reference resources for future robotics team members. The project also includes the design and development of the manipulator (end-effector) for the arm. This scope covers mechanical and electrical design, motor and encoder selection for the manipulator, and ensuring seamless integration with the rest of the arm completed by the other senior design team. The manipulator must be fully compatible with the IK system, and capable of completing all URC manipulator tasks when integrated with the arm. In addition to the keyboard task, examples include picking up and carrying a cache no more than 5 kilograms in weight, operating a four-position spring joystick, and removing and inserting a USB stick. Wiring considerations must be taken into account during design stages and, along with motor and encoder selection decisions, communicated with the client.
Team members
Nicolas Dittmar Greaves – facilitator
Jeffrey Liu – accountant
Vikram Bangalore – admin
Client
Katie Perkins
Wisconsin Robotics