Update high-precision-robotics

projects/high-precision-robotics

@@ -1 +1,22 @@
+---
+layout: project
+type: project
+image: img/cotton/cotton-square.png
+title: "Cotton"
+date: 2024
+published: true
+labels:
+  - Robotics
+  - ROS2
+summary: "A project to integrate a 6DoF robotic arm into an xray beamline."
+---
 
+<img class="img-fluid" src="../img/cotton/cotton-header.png">
+
+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.
+
+The result is a system that can position a sample in an X-Ray beamline to within 50 microns of the desired position.