CSCE Capstone
Student Site for Individual and Collaborative Activites
Team 16 – AMBOTS22
Team Members:
Michael Darden
Stanley Van
Cassandra Nelson
Alvaro Becares Fernandez
Description:
The objective of this project is to perform cooperative 3D printing with Industrial Robotic Arms with ROS. This will be achieved by developing a universal printing interface such that it is possible to control different third-party robots by integrating them into our sponsor’s platform and cooperate with other robots for manufacturing. We will do this by designing and implementing a communication protocol such that other third-party ROS-compatible robots can effectively talk with our robots over a local wireless network.
Contact:
Michael Darden – mjondarden@gmail.com
Stanley Van – stanleyc.van@gmail.com
Cassandra Nelson – cass.nels@outlook.com
Alvaro Becares Fernandez – varobecares@gmail.com
| Tasks | Schedule |
| 1. Research ROS, MoveIt, and RViz | 11/07 – 11/14 |
| 2. Research and Select Two Robotic Arms | 11/07 – 11/14 |
| 3. Document set up of ROS, MoveIt, Robot arms, and Ubuntu | 11/14 – 12/05 |
| 4. Research G-Code | 12/05 – 12/12 |
| 5. Create G-Code Extractor | 12/05 – 12/12 |
| 6. Research Robotic Arms Movement Commands | 12/12 – 01/02 |
| 7. Simulate Basic Robotic Arm Movement | 12/23 – 01/02 |
| 8. Create Slicer Script | 01/02 – 01/09 |
| 9. Simulate G-Code Movement of Robotic Arms | 01/02 – 01/16 |
| 10. Run Both Arms in the Same Environment | 01/16 – 01/30 |
| 11. Create Custom Package to Launch/Run Programs | 01/30 – 02/06 |
| 12. Simulate Printing Using RViz Markers | 02/06 – 02/13 |
| 13. Create Generic Firmware Class | 02/06 – 02/13 |
| 14. Research & Install PyMesh | 02/13 – 02/20 |
| 15. Add Custom G-Code Commands | 02/20 – 02/27 |
| 16. Implement Communication Hub | 02/27 – 03/13 |
| 17. Cut STL File in Half | 03/13 – 03/27 |
| 18. Add Extruder | 03/27 – 04/03 |
| 19. Connect the Modules & User Interface | 04/03 – 04/10 |
| 20. Demo, Unit Test, Bug Fixing | 04/10 – 04/24 |