Garrett Zinke (gdz)
Introduction to Robotics 16-311

Team C Lab 9


Source Code

We used a wave front for our path planning algorithm. To do this, we first drew the configuration space with theta1 as the Y axis and theta2 as the X axis, and padded it. We then applied a wave front to the configuration space, with a resolution of 10 degrees per unit. As long the arm stays within the configuration space, there should not be any problems. We also used inverse kinematics to set the beginning and end positions, so that it would know where the beginning and end locations were on our configuration space.

If we were given more time, we would have done many improvements to our robot. Our software could achieve a better resolution, resulting in smoother motion. We would also be able to make lighter, sturdier arms. Lighter arms would be more accurate, as there would be less friction on the arm, and the displacement of the arm from its hanging is decreased. Sturdier arms would have the same effect, as a non-sturdy arm would have wiggle room, and have a larger margin of error.



Our planner would be affected by a third arm. We would need to add another dimension to our configuration space. The planner would then run the path planning in the new configuration space. We would also try to move the robot motors off of the arm, so that their weight would not affect it too much. With the motors on the arms, three motors would have significant weight, and may cause the first motor to struggle.