About

This project involves developing a robot that freely manipulates and stacks blocks using a custom smart servo driver and stereo camera measurements. A custom driver was developed to add features like PID control and I2C communication, aiming to improve the smoothness of traditional SG90 servo operation. This simple yet comprehensive project reflects both the fundamentals and applications of robotics.

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How it works

Smart Servo Driver: Equipped with STM32, enabling PID control, torque adjustment, and real-time angle acquisition. It improves the jerky movement issues of traditional SG90 servos.
Stereo Camera Measurement: Utilizes two cameras to acquire the 3D coordinates of blocks. Calibration of intrinsic and extrinsic parameters enables high-precision measurements.
SCARA Robot Structure: Uses a simple 2-link arm and ball screws to lift and precisely place blocks in position.

Additionally, a trapezoidal velocity profile was adopted to enable smooth linear motion, reducing stress on robot components.

Specs and Results

Features:

Smooth and vibration-free operation enabled by custom servo drivers.
Accurate position measurement and end-effector feedback control using stereo cameras.
Efficient horizontal motion of the SCARA arm.

Achievements:

Over four months, I gained foundational skills in servo driver design and stereo measurements.
Although complete block stacking was not achieved due to challenges in vacuum pad sealing and robot precision, valuable knowledge for future projects was acquired.

Next Steps:

Building on insights from this project, I will take on the development of a quadruped robot next.

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