This project aims to control a 5R-plan drawer robot through a GUI. To do so, we used a beaglebone black and 2 controlled joint, which drive the whole system.
Authors : Loïc Kerboriou, Justin Bezieau, Nicolas Cheron, Johann Huber
Release : January 2019
Sorbonne University Engineering School - Major in Robotics
Location : Paris, France
Teacher : Ludovic Saint-Bauzel
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.
Qt library (for the GUI)
https://wiki.qt.io/Install_Qt_5_on_Ubuntu
Python
$ sudo apt-get install python3.6
Connect components as described in the Connectic part of the user documentation (p.7).
Launch the main python script with the following command on a new shell :
$ python gui.py
The GUI will then appears on your workstation.
Put manually the robot effector on the origin marker, and clic on the init button
The system is now initialized, you can start drawing with Apollo 20.
- Plug the beagle bone to the computer.
- Launch the gui ($ python gui.py)
- Press init.
- Press run controller (you should ear a pleasing sound).
- Press connect and check on the terminal if it work, if not, go to the point 5
- Place the robot on his origin spot and pres org
- Now you can run the file on the board for the rectangle, or you can enter a position in x and y field, or put your own file in the same folder as the gui.py enter his name in the filename field
- for stopping the pleasing sound clic on stop