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### Topic: Cartesian Pick and Place Robot Software (Read 487 times)previous topic - next topic

#### xerxesbear

##### Feb 24, 2018, 03:06 am
Hey guys, I would like to build an pick and place robot utilizing stepper motors. The pick and place robot is very much like a 3D printer but with the thermonozzle replaced with a claw. What is the best way for me to program the motion of the claw?

Regards,
Jason Lee

#### robtillaart

#1
##### Feb 24, 2018, 10:22 am
Carefully!

Seriously, you must have an internal map of all the objects - size & height - you can bump into when moving from A to B.

What is the area the robot will serve, few sq inches, feet, meters?  Round

Do you use polar or cartesian coordinates?

Rob Tillaart

Nederlandse sectie - http://arduino.cc/forum/index.php/board,77.0.html -
(Please do not PM for private consultancy)

#### Robin2

#2
##### Feb 24, 2018, 11:06 am
What is the best way for me to program the motion of the claw?
You can't seriously expect useful advice for a very complex project based on such little information.

...R
Two or three hours spent thinking and reading documentation solves most programming problems.

#### xerxesbear

#3
##### Feb 25, 2018, 12:25 amLast Edit: Feb 25, 2018, 10:57 am by robtillaart
Carefully!

Seriously, you must have an internal map of all the objects - size & height - you can bump into when moving from A to B.

What is the area the robot will serve, few sq inches, feet, meters?  Round

Do you use polar or cartesian coordinates?
The area ( working evelope)  the robot will serve is about 11.6 X 7.6 X 6.5 IN in cartesian coordinates, very similar to a 3D printer. I have no experience in programming so I am not sure where to start. I have done some Arduino C programming but I feel like this might require object oriented programming or something. Some people have adviced me to use CNC shields and loading G codes, but im not sure if that works.

Moderator fixed /quote tag

#### Paul_KD7HB

#4
##### Feb 25, 2018, 01:24 amLast Edit: Feb 25, 2018, 05:27 pm by Paul_KD7HB
Fundamental to your project is the question: do you know the exact location of what you want to pick up, or do you have to program to find it?

Paul

edit: Describe your "claw". Does  it need orientation to be able to pick up your object? If so, you will need a servo to rotate it. And code to control that.

#### Robin2

#5
##### Feb 25, 2018, 12:22 pm
Some people have adviced me to use CNC shields and loading G codes, but im not sure if that works.
The suggestion to use GCode may be a good one. GCode is simply a list of co-ordinates to which the tool (your claw) should move. I reckon you will find it easier than any other approach to the problem. Spend some time studying GCode before you conclude that a more complex solution is essential.

Quote
I have no experience in programming so I am not sure where to start. I have done some Arduino C programming but I feel like this might require object oriented programming or something.
If for some reason GCode is not suitable then you are faced with a very complex project. If you have very little programming experience then you need to spend enough time to grow your knowledge before you try to tackle this.

Object Oriented Programming is not in itself a solution to anything. It is just a particular style of writing code. What you want to do can be done with or without OOP - don't let it distract you.

...R
Two or three hours spent thinking and reading documentation solves most programming problems.

#### groundFungus

#6
##### Feb 25, 2018, 12:41 pm
The openPnP site may have information of interest.

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