IN5590 - Rapid Prototyping of Robotic Systems

4 DOF electromagnetic robot arm

By Ahmed Murad

1) Firmware/software for the robot/prototype

Setup instructions:

$ python3 -m venv .venv
$ source .venv/bin/activate
$ pip3 -r install requirements.txt

Run GUI interface:

$ python3 src/flask_control.py

Using this you can open http://127.0.0.1:5000/ in your browser to control the robot. Use the sliders to control the robot.

Run manual control / path planed control:

$ python3 src/manual_control.py

Running this code will run my pre-defined path for the robot. The path is defined as a 2d matrix and is easy to change. You can set variable "find_angles" to true to move the robot arm manually and fin dthe values you need to set in the path matrix.

2) Images from testing the robot

Image of the prototype in action

GIF of the prototype in action

3) Poster

Read more on my poster about the robot here. For information on CAD files, go to this repo.