diff --git a/projects/high-precision-robotics.md b/projects/high-precision-robotics.md index e549fc9..9f76584 100644 --- a/projects/high-precision-robotics.md +++ b/projects/high-precision-robotics.md @@ -13,10 +13,10 @@ summary: "A project to integrate a 6DoF robotic arm into an xray beamline." -X-Ray beamline scientists have unique challenges when it comes to positioning of samples. Often they need to know where something is in space to within a single micron. While 6DoF arms present significant flexibility, they often do not have the necessary accuracy. This project involved -1. Writing custom drivers for a Kuka arm so we can control it through the ROS2 control framework. -2. Developing and validating high precision inverse kinematics and path planning. -3. Creating a driver for a 1-D Keyence laser to provide visual feedback to the system. -4. Designing a process that would maximize accuracy and minimize the time taken to achieve it. +In the world of high energy x-ray science, it is critical to place samples at an extremely precise location with respect to the x-ray beam. To do this is often a significant engineering effort each time. However, advanced robotics can allow for a one-size-fits-most solution, as long as the software and process is designed correctly. We were able to research and implement a robotic solution that actuates a combination of hardware systems to do high precision optical tracking and high precision motion of the robot while operating in an extremely constrained environment where one wrong move could cost millions of dollars in damages. -The result is a system that can position a sample in an X-Ray beamline to within 50 microns of the desired position. +## Key Points + +- Generic handling of large parts up to 75kg. Enabling non-destructive testing to occur on larger samples. +- More flexible automatic motion, allowing future work to optimize beam-time when scientists / operators aren’t available. +- Enabling a streamlined, consistent process to minimize the need to swap out hardware.