Project Information
- Date: March 2020
- Class: ME 439 - Intro to Robotics
Intro to Robotics Class Project
For the main project in my Intro to Robotics class, we were tasked to program the Lynxmotion AL5D 5 degree-of-freedom robotic arm to complete a Tower of Hanoi puzzle. While the project required a starting tower height of three disks, I programmed my robot to be able to solve the puzzle with up to 7 disks. This required more advanced path planning to avoid the middle stack if needed, as well as changing the orientation of the end effector to provide sufficient reach. Programmed in MATLAB, this robot would take inputs for number of disks in the starting stack, generate all the moves required to solve the puzzle, generate the trajectories for each move, and finally send the moves to the robot one-by-one as they were completed.
A video of the robot solving the three-disk tower: https://youtu.be/A5mwtjL2hJg
And solving the seven-disk tower: https://youtu.be/4ws7j_N2Bho