ROS_handy_joint_angles

Overview

The ROS_handy_joint_angles is part of a multi-repository project to create a life-size, working, Mr. Handy Robot from the Fallout Game series. The goal of this project is to have three indivdual 3DOF arms mounted to a central slew drive. Each arm will be capable of both Forward and Inverse Kinematics, will have predetermined locations, and each will be equiped with a different end-effector.

The Mr. Handy will be able to:

• Choose an arm based on the action/ end-effector needed
• Move to the desired locations or predetermined locations
• Respond using audio files from the game files

Hardware Setup

This setup uses:

• Main Compute Module: Small Desktop Computer
  • Ιntel Celeron J4125 Quad Core Processor
  • 8GB RAM
  • 128GB SSD
• Motor Controller:
  • Arduino UNO
  • PCA9685 16 Channel, 12 Bit PWM Servo Driver Board
• Motors:
  • MG995 Servo Motor (20KG)

This Repo

This repository is a ROS Package for the poject. This package includes custom nodes for:

• Gathering input from a remote device (pipboy/nearby terminal)
• Chosing an arm with the applicable end-effector
• Computing joint angles given a target for the end-effector
• Sending joint angles to the servo-control board