Pancake Robot (Beta)

February 12, 2024 ยท View on GitHub

Pancake robot video thumbnail.
(Thumbnail from YouTube video.)

An integration of the Ufactory Lite 6 robot arm with kitchenware to make pancakes.

Includes software for jogging the robot arm with a 3D mouse and recording sequences for playback.

Software

Installation

pip install -r requirements.txt

Example Usage

# Make a pancake
python main.py 192.168.4.100
l
sequences/pancake
p

Input

  • Control
    • 3D mouse x/y/z/roll/pitch/yaw: move the arm.
    • x or Ctrl-C: exit
    • l: load sequence from file, e.g. "sequences/pancake"
    • p: play sequence
    • s: save sequence to file
    • c: clear sequence
  • Recording
    • r: record current position to sequence
    • 1: record gripper open to sequence
    • 2: record gripper close to sequence
    • 3: record gripper stop to sequence
    • 4: record pause to sequence
    • i: include subsequence from file, e.g. "sequences/open"
    • [: decrease speed to next recorded position
    • ]: increase speed to next recorded position
    • ,: decrease radius to next recorded position
    • .: increase radius to next recorded position

Hardware