AwesomeBytes

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Posts Tagged python

Light painting with a homemade robot arm

22/12 21:10

Posted by r0s in Miscelánea / Misc, Programacion / Programming | No Comments

This is my last finished project. It’s a homemade robot arm with a RGB LED in the terminal element so we can paint with it. In the end of the post I’ll link to the PDF of the project and the powerpoint I used in class (in spanish) to present it. When I have time I’ll upload some videos.

We built the robot in our association AESS and I programmed a simulator in python of the arm that implements the inverse kinematics and the needed stuff to paint an image or the points that we need.

PDF: http://awesomebytes.com/wp-content/uploads/2011/12/Documentacion-Brazo-LED.pdf
Powerpoint: http://awesomebytes.com/wp-content/uploads/2011/12/PresentacionBrazoSammyPfeiffer.pdf

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Checksum on the motionfiles (.mtn) of the Bioloid

11/11 02:14

Posted by r0s in Herramientas / Tools, Miscelánea / Misc, Programacion / Programming | No Comments

Working with a Bioloid I had the need of modifying a pose file of the Bioloid. This file is structured as a text file that starts with the bytes 0xEF 0xBB 0xBF and after that it details every pose and its data (the position of every motor, etc). I found that in the end of the file there is attached a Checksum, and without that Checksum the Bioloid and it’s software won’t recognize the file.
This Checksum is formed of 2 bytes computed adding the value of every byte of the file 8(including the carriage returns in UNIX format) and in the end changing the sign of the result and getting only the last 2 bytes. This Checksum is added at the end of the file (in the last line, after a carriage return).

Here you can see the Python code that opens the file (that only needs the checksum in the last line) and computes and writes the Checksum.

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Moving Bioloid arms with a Kinect

13/06 17:36

Posted by r0s in Miscelánea / Misc, Programacion / Programming | 1 Comment

Video of my project.
On one side I obtain the data of the Skeleton of the user using OSCeleton.
On the other side I have my application programmed in Python where I parse the coordinates of the different joints obtained via OSCeleton (using the OSC protocol, parsing with SimpleOSC). This same application simulates the Bioloid and calculates the inverse kinematics so I am able to position the motors. For making the simulation I used VPython.

Thanks to this project I’ve learned a lot about robotics, inverse kinematics, python I wanted to learn python for this project), OSC protocol and I re-learned a lot of geometry and trigonometry.

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