Erco's Mobile Robot/Tower of Hanoi Challenge
Who can get a mobile robot to solve a 3-disk Tower of Hanoi maneuver? Bot must roll between 3 posts (real or virtual) to move disks. It will need a gripper (or electromagnet) with one or two DOF to raise/lower and release disks.
Bonus points for solving ToH using only one servo or while doing a Figure 8.
Maybe this is the official Parallax contest for the P2 launch party.
My new tricycle bot will do it with its single 1PPR encoder. Who else will answer the call?
Martin_H, I expect you to use Forth.
Duane, your Halloween Hexapod can do this with its LED eyes closed.
Xanadu, yes you may use a drone.
Rich, time to bust out Keppler.
Whit, get the Gatorbots on the case!
Rick, it's now or never to join the fray.
Gordon, it's showtime!
Bonus points for solving ToH using only one servo or while doing a Figure 8.
Maybe this is the official Parallax contest for the P2 launch party.
My new tricycle bot will do it with its single 1PPR encoder. Who else will answer the call?
Martin_H, I expect you to use Forth.
Duane, your Halloween Hexapod can do this with its LED eyes closed.
Xanadu, yes you may use a drone.
Rich, time to bust out Keppler.
Whit, get the Gatorbots on the case!
Rick, it's now or never to join the fray.
Gordon, it's showtime!
Comments
I have a few parts I need. What are we looking at for a deadline?
Any bonus using the S2 and GUI?
No time limit, I see this as a standing challenge, a rite of passage for all serious roboticists.
Bonus for S2? Maybe, maybe not. With its million PPR wheel encoders, it comes with all of the accuracy required. That said, I don't recall seeing any grippers/servos attached to any. Just pen lifters. Get on it, Padre!
My plan is to manually fly the copter and land it. The Propeller has to detect the landing and begin finding the towers and solve the puzzle.
Here's a link to the picture:
http://ppl.ug/qkOSwCSuzQU/
This is a mobile robot arm that uses inverse kinematics to position the arm in a Y, Z plane while using a line sensor (Pololu QTR-8RC) to determine the X location. This allows of a substantially larger work envelope than a traditional revolute coordinate robot arm.
Main robot chassis:
Robot arm:
I modified the Baby Orangutan so I could host it on the BoE, but that isn’t needed as a breadboard would work just as well. The construction for the main part of the robot was bolt together, but I needed a way to front mount the line sensor. I used standoffs, popsicle sticks, and wood glue which did the trick.
To construct the arm I cut uniform 6” lengths of u channel and drilled holes on the front and sides to enable bolting things to them. I bolted servo horns to one length of u channel to construct the humerus, and bolted universal mounting brackets to servos and u channel to construct the ulna. If you look at some of my other videos you’ll see I use this technique frequently as I often reuse parts between projects. The gripper is reused from an earlier project, but was laser cut from hobby plywood with a mini servo to actuate it.
The hardest part of this project was the programming which I had to break down into phases. The first phase was getting the mobile base to find index marks that indicate the pickup and dropoff locations. The second phase was tweaking my existing inverse kinematics code to work on a Y, Z robot instead of an X, Y scara arm. The third and final phase was writing the tower of algorithm with callbacks to my code.
Don't worry about the last block. It was not a fail as far as I am concered.
Linear motion with cubes. Unique and first. Congrats to our new Robotic King!
@Everyone else, come on and try this challenge.
I'm still in the very beginning but S3 seems that that is perfect for that.....
Changed base for the Lite Arm i2 & S3 robot adapter http://www.thingiverse.com/thing:2020071
The "clark" arm is my design using sketchup and my 3d printer, and has 7 parts.
Is uses one mini servo and one standard servo.
I made a sequential algorithm with blockly for 3 disks in order to check the arm. Improvements will coming soon....
Here is a video from my first test.....
https://youtu.be/kLoV7b4t-vk
Blockly code on http://blockly.parallax.com/blockly/
file name "Hanoi_Tower_3Disks (NikosG)"
Αυτό είναι όμορφο!
I love your arm design too, I think I will have to print one out. Is it available on thingiverse or someplace?
The continuous rotation servo might be a problem without some simple feedback (reed switches?) even if you could make it work. In Blockly you could use the "differential drive" from the Robot menu.
Ken Gracey
That makes you and I the only people to complete the challenge.
Anyone else up for trying?
The only two real roboticists here. Congrats Guys!
I'll get to this one day. Kinda buried now in other robot projects, getting ready for NYTF. Wish I could show them all to you to prove I'm not goofing off. After all, didn't me and my big mouth issue this challenge?
Roy, I attached the zip file (7 files for the arm& grippe,r and 2 for S3 addapter), for you and for anyone...
You will need some sandpaper to correct the CA_4.stl in order to adapt good the mini servo
I'll make some corrections in that part, and I'll post on thingiverse in next time .....
Till then you can use as it is now. It is almost perfect...