· RobotArm ·

Teaching a robotic arm how to interact with the world.
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About

This is a public repository gathering all the code and resources related to the OxRAM Robot Arm project.

The goal of the project is to build a robotic arm using free and open source resources, including software, electronics and 3D printed design. We are using RBX1 as the initial arm design and ROS as the software stack to program and interact with the arm.

One of our main goals is to provide the arm with a camera to give it a certain degree of autonomy via image processing and machine learning techniques. As a first toy application, the arm will be able to play chess, being able to recognize and interact with a physical board and its chess pieces.

NOTE that this is a highly WIP project and works on the hardware side have been slowed down by the pandemic and the inability to access our workshop. We are in the process of resuming the works at the moment.

Features

• The arm design is based on RBX1, a 6DOF 3D printed robotic arm
• The electronics are based on the BCN3D MOVEO arm
  • The schematics are being reworked to manage the additional degree of freedom
  • A combination of Arduino Mega 2560 and RAMPS 1.4 shield is used in place of the custom SlushEngine Model D 7 stepper motor driver to minimise costs
• ROS is used to power the software side of the arm and to provide a simulation environment
• Ability to understand (domain-specific) input voice commands (English and Chinese)
• Ability to perform (domain-specific) object detection and recognition through a camera mounted on the gripper

Acknowledgements

• RBX1 and BCN3D MOVEO 3D arm designs
• ROS software stack

Sponsors

todo

License

The code in this repository is licensed under the MIT License, unless otherwise stated.

Any other resources (e.g., documentation, media) are licensed under the Creative Commons Attribution-ShareAlike 4.0 International License, unless otherwise stated.