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### #ActualFuzsy

Posted 11 September 2012 - 08:55 AM

The way the system currently works is by a big handmade table with current position as input. The feedback from the table is something like your description:

1. Move "arm 1" to 75 cm in Z
2. Move body to 600 cm
3. If "arms are free" "turn body toward goal" else if "possible move arm 2 up".
4. etc.

I use the hit boxes show in the image to determine if a movement is possible or will result in collision.
The problem with that solution is that it is not very dynamic. The "stand" can be moved and the table can be moved by the user.

I have also made a system where smaller easy recognizable sub states are recognized:

1. If "Big movement" Move to body to 600 cm
2. If "arms need to switch places" do sequence 132
3. If "Goal position along tableside" do sequence 97
4. etc.

It made the task a little easier but still with the same problem, it is not dynamic. In a new situation where the "stand" is put in a new position and the table is turn, I have to make a lot of new add-ons to the table without affecting the already working part of the table.

Was it something like above you had in mind?

Jeffery you are right about the application of the robot.

I am very open to all ideas and I am grateful for all suggestions.

Edit:
Sorry, I was asked to remove the picture from the forum by my boss.

### #2Fuzsy

Posted 11 September 2012 - 08:54 AM

The way the system currently works is by a big handmade table with current position as input. The feedback from the table is something like your description:

1. Move "arm 1" to 75 cm in Z
2. Move body to 600 cm
3. If "arms are free" "turn body toward goal" else if "possible move arm 2 up".
4. etc.

I use the hit boxes show in the image to determine if a movement is possible or will result in collision.
The problem with that solution is that it is not very dynamic. The "stand" can be moved and the table can be moved by the user.

I have also made a system where smaller easy recognizable sub states are recognized:

1. If "Big movement" Move to body to 600 cm
2. If "arms need to switch places" do sequence 132
3. If "Goal position along tableside" do sequence 97
4. etc.

It made the task a little easier but still with the same problem, it is not dynamic. In a new situation where the "stand" is put in a new position and the table is turn, I have to make a lot of new add-ons to the table without affecting the already working part of the table.

Was it something like above you had in mind?

Jeffery you are right about the application of the robot.

I am very open to all ideas and I am grateful for all suggestions.

Edit:
Sorry, I was asked to remove the picture from the forum by my boss.

### #1Fuzsy

Posted 09 September 2012 - 05:55 PM

The way the system currently works is by a big handmade table with current position as input. The feedback from the table is something like your description:

1. Move "arm 1" to 75 cm in Z
2. Move body to 600 cm
3. If "arms are free" "turn body toward goal" else if "possible move arm 2 up".
4. etc.

I use the hit boxes show in the image to determine if a movement is possible or will result in collision.
The problem with that solution is that it is not very dynamic. The "stand" can be moved and the table can be moved by the user.

I have also made a system where smaller easy recognizable sub states are recognized:

1. If "Big movement" Move to body to 600 cm
2. If "arms need to switch places" do sequence 132
3. If "Goal position along tableside" do sequence 97
4. etc.

It made the task a little easier but still with the same problem, it is not dynamic. In a new situation where the "stand" is put in a new position and the table is turn, I have to make a lot of new add-ons to the table without affecting the already working part of the table.

Was it something like above you had in mind?

Jeffery you are right about the application of the robot.

I am very open to all ideas and I am grateful for all suggestions.

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