Automated-Latte-Art-with-Using-ABB-s-YuMi

Authors: Tran Thanh Tuan - Nguyen Van Dien - Vu Duc Hieu

Introduction

• My Kinematics and Dynamics project for the final-term.
• Creating a simple yet unique project using the ABB's YuMi dual-arm robot have already helped me earn an A+.

Methodology

• Here’s a simple diagram to illustrate the setup:

                  +-----------------+     +-----------------+      +------------------+
                  | Espresso Machine| --> |  Robotic Arm 1  | -->  | Cup with Espresso|
                  +-----------------+     +-----------------+      +------------------+
                                                                        |
                                                                        v
                  +-----------------+     +-----------------+      +------------------+
                  |  Milk Frother   | --> |  Robotic Arm 2  | -->  |  Pouring Milk    |
                  +-----------------+     +-----------------+      +------------------+
                                                                        |
                                                                        v
                                                                  +------------------+
                                                                  |  Latte Art Cup   |
                                                                  +------------------+
  

• Here’s a simple control diagram:

              Object position predicting + robot Start coordinate --> Position, Velocity and Acceleration Trajectory
                                                                                               |
                                                                                               V
                      EF <-- Forward kinematicS <-- Motor For Robotic Arm 1 and 2 <-- Inverse Kinematics 
  

• YuMi has 7 joints:

• D-H table for YuMi's right hand:

• For more information about YuMi' workspace and Position, Velocity and Acceleration Trajectory, please checking "pdf" file on top.
• The entire report's content written in Vietnamese.

Conclusion

• Thank you for taking the time to read.