OTHER PROJECTS
A brief list of some of my projects and assignments at University
MODELLING A ROBOTIC MANIPULATOR
2018
The assignment was to use NI LabView to mathematically model a robotic arm that could be attached to a TurtleBot2.
The arm should be able to pick up a small item off the floor and place it on shelves on one of three predetermined heights.
The arm I modelled has 4 degrees of freedom and can reach all areas in question without any anomalies.
This assignment increased our understanding of degrees of freedom, NI LabView programming, simulation and conversion between joint space and Cartesian space.
ABB ROBOT PROGRAMMING
2018
This assignment was to use RobotStudio to program the IRB 120 robot arm that had a spring mounted pen mounted as an end effector.
The task was to get the powerful arm to move in Cartesian space and use the pen to draw letters and shapes on paper without damaging anything.
I managed to allow significant user input via menus, allowing to change the slope of the work surface, choose different artworks to draw, or write out the user's initials using the runic alphabet.
BAXTER ROBOT PROGRAMMING
2018
This assignment was to use ROS to program the Baxter robot to use the camera on it's manipulator to pick and place a wooden cube.
The video feed from the camera was pre-processed using OpenCV. Each frame is then run through a machine learning model that recognises several geometrical shapes.
If the wooden cube has one of the accepted shapes drawn on it, the manipulator will proceed to centre over the cube, pick it up and place it at the predefined home position.
In this case the home position is defined as being on top of another cube.
INDUSTRIAL AUTOMATION SEQUENCE
2017
This assignment was to use FluidSim to design an industrial automation sequence with this specification:
[𝐶+,( 𝐴+4 𝑏𝑎𝑟 ),2𝑠,(𝐵+,𝐵−)4,3𝑠,(𝐴−𝐶−)]
After successfully simulating it, we had an hour to assemble the pneumatic pistons, sensors, counters, timers and relays required to complete the sequence.
Completing this course module gave us a good understanding of pneumatics and ladder logic.