This update continues the work carried out in the update-07-03-2024 branch and includes codes for testing the accuracy, reproducibility, and behaviour of the combined system (6DoF Robotic Motion Phantom - 1DoF Vertical Motion Phantom). In this version, more information is recorded in the log files during use and the user will be able to pause the 1D platform via the software during the trace.
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Hardware 6D
- A six-axis robot (Tested on a commercially available UR3 Universal Robot) and its associated hardware
- A phantom
- Getting started :
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Hardware 1D
- Optical Linear Actuator - 35lb, 4 inch stroke length (commercially available [https://www.firgelliauto.com.au/products/os-series])
- Arduino Uno - (commercially available [https://store.arduino.cc/products/arduino-uno-rev3]
- Optical Base Mounting Bracket for vertical applications (commercially available [https://www.firgelliauto.com.au/products/mb-pb-premium-base-mounting-bracket])
- High Current DC Motor Drive (commercially available [https://www.firgelliauto.com/products/high-current-dc-motor-drice-43a])
- 12V DC power supply
- Wiring equipment (breadboard, wires etc).
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RealSense Camera
- LiDAR L515 (https://store.intelrealsense.com/buy-intel-realsense-lidar-camera-l515.html)
- Pre-processing codes used for experiments : https://github.com/Image-X-Institute/6-DoF-Robotic-Motion-Phantom/tree/79de5281301065528f1e2daf2de6a9732bbf00b4/RealSense%20verification
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Software
- Microsoft Visual Studio 2019 with .NET framework 4.5 (tested). May work on other versions too.
- Winforms
- Arduino IDE
- MatLab
- Microsoft Visual Studio Code 1.90.2 (tested). May work on other versions as well.
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Third-party libraries (located in
External Libraries/)- EasyModbusTCP v4.2
- LiveCharts v0.9.7
- LiveCharts.WinForms v0.9.7.1
- LiveCharts.Wpf v0.9.7
- Math.Net Numerics v4.12.0