The problem is that the arm itself is controlled by its joint angles so there is no direct way to tell it to go to a certain point in space. To overcome this, I needed to program the ability to pick up from above and from the side, as well as subroutines that reposition the block if it's outside of the graspable region. Since the Braccio arm is fairly small and simple, it has a limited domain where it's able to pick up items. Below I've describe how arm is able to determine where to pick up, as well as some testing I did to see how often the arm succeeds at its task.
#Arduino braccio robotic arm code
If you'd like to jump into using it, the code and instructions are available here. I built a very bare-bones command line program that controls the robotic simulator to make it easier to use right off the bat. I wasn't able to find anyone else's working simulator for the Braccio so I combined bits from several other examples I found. Rolling down a ramp into a bowl is a major simplification of the actual process, but I thought I would first make a simplified package so that others could reuse it and have an easier time getting started simulating with the Braccio arm and Gazebo. The red block is a stand-in for the vegetables that I will eventually want the su_chef to pick for chopping.
In this demo, you can see the arm grabbing and moving the red block and the blue bowl. Using these tools, I'm able to simulate my robot interacting with objects to quickly test how it will work without needing to have my physical setup running. So last weekend, I took a deep dive into integrating motion planning via ROS MoveIt with the Gazebo physics simulator using a virtual model of my Arduino Braccio arm. As I'm continuing to build my su_chef robotic food prep project, I've realized it will be more efficient to design and prototype using robotics simulations.
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