Sensor integration
In the initial version of the gripper, sensor feedback was simply collected but not utilized in decision-making processes, leaving it as an open-loop system. To enable more dynamic and adaptive control, I developed code that interfaced multiple sensors with an Arduino MEGA via a multiplexer. This setup allowed the Arduino to collect and process sensor data in real-time, paving the way for a closed-loop control system where sensor feedback could directly influence the gripper’s movements. This approach enhanced the gripper's precision and responsiveness, as it could now adjust its actions based on the immediate environment.
Control Logic
With integrated sensor outputs, the gripper can now measure and record critical metrics, including pinching force, pleat height, and the stepper motor's rotational speed. The KUKA arm communicates to the gripper, enabling the arm to send positional commands that trigger specific sequences involving the stepper motor and actuator.
Top Skills utilized:
Arduino Development
Sensor integration
Python (Data Analysis)