ABB RobotStudio - Solving the Tower of Hanoi problem with the Collaborative Robot YuMi (IRB 14000)

The project demonstrates the mathematical problem of the Tower of Hanoi, which is solved by the collaborative robot YuMi (IRB 14000). To solve the problem, we use a Python script to generate the data with additional dependencies and ABB RobotStudio to process the data and generate the trajectory.
The program uses both arms (T_ROB_L/R) to move the rings (1 to 6) between the three towers using special fingers that were created on a 3D printer.
The project demonstrates two methods of solving the problem Tower of Hanoi:
Method 1:
The standard solution of the problem is performed by one hand and the inverse by the other.
Method 2:
Synchronization of the movement of both arms in the standard and inverse solution of the problem.
The project was created in collaboration with student Lukas Stanek within the VRM (Programming for Robots and Manipulators) university course.
Information about the project can be found at (GitHub):
github.com/rpa...
Contact:
[e-mail]
Institute of Automation and Computer Science:
uai.fme.vutbr.c...
Tags:
#digitaltwin ​ #abb #robotics #automation #systemintegration #simulation ​ #education ​ #towerofhanoi