Robot Control via Ethernet Shield

Hi guys! :slight_smile:

I’m working on a sensor system which should enable a robot arm to react as human activates a certain sensor.

So, what I have available is:

Capacitive sensor from Sparkfun:
Proximity sensor from Adafruit: VCNL4010 Proximity/Light sensor : ID 466 : $7.50 : Adafruit Industries, Unique & fun DIY electronics and kits
Arduino UNO
Universal Robot UR5

So far my reach is connecting sensors to Arduino (I know, not much… I’m pretty new in all of this). The idea is to manipulate the robot by human hand, e.g. by touching conductive textile connected to MPR121 and mounted on the robot, it should stop/change direction, and by approaching with a hand to VCNL4010, it should slow down if in motion. The initial idea was to make it look like some sort of skin cell, but for now I would like to put these two sensors to work, and upgrade it step by step.

I’m aware of all the working principles of the Ethernet, but never actually dealt with it, or with Arduino contolled robot. So I’m wondering if anybody has some examples of similar projects or if anybody worked on something like that (Internet is full of everything, but when you need something specifically, it’s a blank page). At this moment I’m desperate because all my work comes down to brainstorming and wasting time.

Attached you can find a developed sensor connected to MPR121 board, and proximity sensor which should be used - both connected to Arduino. It’s the first version of a “skin cell”. Also, I have a problem with wires, not sure if i can connect multiple short wires to make a longer one since the proximity sensor should be on a robot arm with the conductive textile, and Arduino itself somewhere around the base of the robot. I know resistance increases, and as a result, current decreases. I don’t know if I’m talking nonsense rn, but most of my knowledge is unfortunatelly theoretical.

Thank you in advance! :slight_smile:

Universal Robot UR5

My group has a UR5, too. The controller can be connected to the internet, and applications can send instructions to the UR5, to make it move. Each instruction contains 6 values - the angles of the joints.

I think that you are going to be hard-pressed to get the Arduino to calculate the inverse kinematics (joint angles from position) needed to make the UR5 move to a useful pose.