ECE 417 --- ROBOTICS
Lab 6, Spring 2021
For this lab you will program the Lab-Volt robot to pick up an object at
one point and put it down at another, following straight line trajectories
along the way. You have the following tasks.
- Write a (short) subroutine which will move the robot from the current
point to a new point. You pass the XYZ coordinates of the desired destination
as arguments to the routine. The routine will assume that the desired
orientation is one with the gripper pointing straight down; i.e., the orientation
is represented by the quaternion q = (0,0,1,0).
- Write a subroutine which will move the robot in approximately a straight
line (in cartesian space) from the current point to a new point (both points
have the gripper pointing straight down). Pass the routine the coordinates
of the new point. The routine operates by dividing the line segment
between the current point and the new point into 1 cm intervals. The
cartesian coordinates of each intermediate point will be determined and the
robot will be instructed to move there using the above subroutine.
- Write an open gripper and a close gripper routine.
- Your main program will have the robot pick up an object (a small wooden
cylinder) placed 45 degrees to its left (i.e., base angle is 45 degrees) and
place it 45 degrees to its right. Your program will have to move above
the object, open the gripper, move down, close the gripper, move up,
move above the setdown position, move down, open the gripper, move up, and
then return to home. Your moves to and from the home position do not
need to be in a straight line, as the gripper will be changing orientation
while moving. The other moves should be in a straight line.