This repo is the source code for the chess-bot project of MCEN90028 - Robotics System at the University of Melbourne.
The project mainly focuses on design a serial manipulator to pick and drop a chess piece on the board from scratch with given tool kit. The tool kit includes 4 SCS15 servo motors and 2 SCS009 servo motors with an Arduino Mega board. In order to achieve the objectives of the project, we tried to achieve different sub-goals over the course through Assignment 1 to 5. The stages can be presented as
- Obtain the symbolic representation for Forward and Inverse Kinematics of the robot arm (Assignment 1).
- From there, we studied the relation of task space velocity and torque wrench on the end-effector (gripper) (Assignment 2).
- Then, we generate the trajectory for the end-effector in 3D space with respect to time (Assignment 3).
- The CAD model needs to be ready at this stage for fabrication and testing (Final Report).
- Calibrate the robot arm to minimise the error in operation (Final Report).