What did you personally accomplish this week on the project?
This week, I finetuned the vision module’s height and speed calculations to more accurately handle edge cases (box on the edge of the treadmill, tall box, etc.). I also finetuned the angles of the main file’s inverse kinematics outputs to align with the arm’s idiosyncracies (arm plane is slightly tilted). I was able to sync the main program’s axes/commands almost perfectly with the arm’s angle quirks to maximize accuracy. I also tweaked the timing/buffering of how the main file sends commands to the arm to ensure smoothness and reliability during pickup. In particular, it was previously having problems with moving the box up and to the bin after grabbing it. We were able to test the system on example boxes running on the treadmill and achieve 80% pickup success (8/10 runs).
Is your progress on schedule?
We are running on schedule.
What deliverables do you hope to complete in the next week?
I plan to finish the final presentation by next week, as I will be presenting on Monday. I also hope to make some physical bins and test the arm’s ability to drop the boxes in them, as we’ve currently only tested the arm dropping the box at the bin position.