Mindstorms NXT FlexiPicker – Test #2
This Lego Mindstorms NXT FlexiPicker is based on the ABB IRB 360 FlexPicker. The IRB 360 FlexPicker™, is the SECOND GENERATION delta robot for precision pick and place applications. The robot has outstanding motion performance with shortest cycle times at high accuracy, and with upto a 3Kg payload. The IRB 360 is designed to work in many applications within the Food Industry.
After a couple of failed attemps a few months ago due to engineer/mechanical issues I came back to it a couple of days ago. This is the Second test using the Mindsensor PlayStation2 Controller to control the arm via the Joystick and the claw/grabber which users an RC type mini-Servo controlled via Mindsensors 8 Channel Servo Controller (NXTServo-v2) which can control upto 8 RC servos. The Robot is programmed with the OpenSource NXC written by John Hansen.
My Lego Mindstorms NXT FlexiPicker & son, Anthony in action!
I was forced used Vector Mathematics to transfer the X-Y co-ordinates from the Joystick to Control the 3x NXT Motors to allow the Robot's Arm to move anywhere within its cofines. In fact it's a great example of Vector Mathematics in Action! I have used Vector Mathematics to convert the X & Y co-ordinates from the Joystick to control the 3x NXT Motors. 'X' & 'Y' Axis Input from joystick is converted to drive 3x NXT Motors producing the 3D Movement on the X,Y & Z Axis within the support frame.
It works very well dispite some minor frame shake due to to the speed the arm moves at. The Motors are set for a maximun power of 75% as 100% really rocks-the-boat! There still needs to be a lot of software refinement and more testing. But I happy with the resultls so far, as it's improving with each hour I spend on it. Next, I will indeavour to Automate my Mindstorms NXT FlexiPicker Robot. So please stay tuned as the project evolves.