PCrnjak/PAROL6-Desktop-robot-arm

Features

• Open-Source Robot Arm Hardware - Provides a complete set of 3D-printable design files and bills of materials for building an industrial-style robot arm.
• Joint Torque Regulation - Regulates actuator torque to enable compliant gripping and force-sensitive assembly.
• Inverse Kinematics - Includes a kinematics engine to calculate joint angles required for specific 3D end-effector coordinates.
• Motion Planning - Generates smooth velocity profiles and splines to ensure fluid motion between waypoints.
• Kinematics - Includes a kinematics engine for calculating required joint angles and end-effector poses in joint and Cartesian space.
• Robotics and Control - Manages joint angles, Cartesian coordinates, and velocity profiles to move the arm precisely through physical space.
• Force-Controlled Gripping - Implements force-controlled gripping using torque and current regulation to grasp objects safely.
• Python Automation APIs - Provides a UDP-based Python API for sending motion commands and automating robotic sequences.
• End Effector Pose Calculation - Calculates the tool's 3D position and orientation based on current joint angles and link parameters.
• Joint Position Control - Implements sensor-based position control to accurately move and maintain the arm's joint locations.
• Joint Velocity Control - Controls the velocity of joints and the end effector to maintain a constant operational pace.
• Robotic Control APIs - Provides a UDP-based Python API for sending motion commands and monitoring system telemetry.
• Stepper Motor Controllers - Controls multiple joints using dedicated stepper drivers and a global enable signal for precise movement.
• Force-Sensing Control - Implements field-oriented control on stepper motors for precise force sensing and compliant grasping.
• Force-Controlled Grippers - Implements a gripper system using field-oriented control for compliant grasping and precise force sensing.
• Hardware Control APIs - Provides a UDP-based Python API to programmatically control robotic motion and monitor system telemetry.
• CAN Bus Interfaces - Implements data exchange and command transmission via dual CAN bus channels for industrial hardware integration.
• Robotic Coordinate Motion - Implements motion control using joint-space coordinates and Cartesian poses with configurable velocity profiles.
• IK Effector Configurations - Provides calibration and control for grippers, specifying target position, speed, and gripping force.
• Robotics Simulators - Provides a 3D visualization tool for simulating robot movements and validating trajectories before execution.
• Sensor and Actuator Drivers - Manages motion and positioning through specialized controller boards and stepper motor drivers.
• Robotics Observability - Provides real-time telemetry tracking of joint angles, pose, and overall system status.
• 3D Simulation Rendering - Features a real-time 3D simulator that displays the live position and coordinates of the robot.
• Kinematics Simulators - Includes a 3D position visualization tool to simulate and validate movement trajectories before physical execution.
• Task-Space Controllers - Enables control of the end effector along axes relative to the robot base or tool reference frame.
• End-Effector Interfaces - Ships a plug-and-play interface for managing specialized grippers to perform grasping tasks.
• Kinematic Calibration - Establishes zero-points for joints by mapping encoder ticks via limit switch detection.
• Emergency Stop Systems - Includes a safety system that monitors normally closed switches to trigger immediate hardware interrupts.
• Kinematic Configurations - Allows modification of the coordinate table to align software settings with physical hardware changes.
• Physical Limit Monitoring - Reads signals from limit switches and inductive sensors in real-time to prevent mechanical over-travel.
• Homing Cycles - Establishes global coordinate references through automated homing sequences using physical limit switches.
• Isolated Hardware I/O - Provides electrically decoupled signal paths for interfacing the robot controller with external sensors and actuators.
• Robot Sequence Scripting - Provides a dedicated scripting language for executing custom motion sequences with joint moves and loops.
• Smooth Motion Transitions - Waypoint curving that allows the robot to move through points without stopping to reduce mechanical wear.
• Field-Oriented Control - Utilizes field-oriented control on stepper motors to enable precise force sensing and compliant grasping.
• Real-time Telemetry Streams - Streams real-time joint angles and system status to a 3D visualization tool for live monitoring.
• Client-Server Hardware Architectures - Implements a client-server architecture to bridge a high-level Python API with low-level hardware execution via UDP.

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