SmartArm
A reconfigurable modular robotic manipulator, built from scratch
SmartArm is a series of reconfigurable modular robotic manipulators that use full closed-loop perception control and adaptive control to reach the repeatability of far more expensive arms. Built entirely by hand, it runs ROS Noetic as middleware, with structure designed in Fusion 360. [Project page]
Left: end-effector tracking via the onboard ultrasonic localization system. Right: motion planning & execution with a custom asynchronous
MoveIt! pipeline that re-plans trajectories on the fly.Combined with a custom ultrasonic localization system, SmartArm runs a full closed-loop controller with two end-effector localization modes — fast-response and smooth-response. I am also developing a real-time dynamic controller using adaptive feedforward control to learn the manipulator’s dynamic parameters.