Forums › Niryo One › How to… › Drill and Drawing Demos in Video
Tagged: CNC, drawing, IK, programming, ROS
I’d love specific info on how the drill and wall drawing demos were created, but even a description of the general approach would be great. Can this be done through Niryo Studio through a series of saved positions or poses? Or, does this require more low level control through ROS or an external Arduino?
I have been reading about IK solutions within ROS, but before I jump into learning all this I would really like to know if there is a simpler approach.
First of all, we have removed the drill and pen holder due to the lack of precision of the robot for drilling and drawing tasks + security issues with the drill (we didn’t want to take the risk that someone would be hurt).
However, if you want to do drilling or drawing tasks (which are basically the same from a programming point of view), it’s still possible. You can create your own tool handler to plug on the tool adapter (you can find the mechanical specs on our website). For the drill, you can take a 12V DC motor, plug it to SW1 or SW2 at the back of the robot, and power it ON and OFF with the digital pin panel (or using the SW functionality in Blockly)
For the trajectories: we only handle point to point movement without constraint on trajectory, in Niryo One Studio. However, in the code we have also implemented a functionality to save and replay trajectories (here on github). So you can create your own trajectory with whatever constraints you want, save them, and replay them.
Thank you for the clarification. I must be way over my head as I’m not able to see how to get started with the linked trajectory file or even how that would work. I’ll try to get started learning ROS to see if I can understand this better though.
In the meantime, would you please answer a couple questions about this in general?
We have created a small guide to give you more info if you want to start with Niryo One and ROS, I encourage you to read it first.
Also, after you learn a little bit about ROS, you might want to check out the Moveit! library and especially the Move Group class (tuto here).
For your questions:
Feel free to share your progress with the Niryo community ! 🙂
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