Following the procedure of (Zacharias et. al, 2007: Capturing robot workspace structure: representing robot capabilities), I have been studying the use of reachability mappings of manipulator workspaces. Using inverse kinematic (IK) solvers for a kinematic chain specific to an available manipulator setup, a number of orientations about positions on a discretised grid can be tested to be reachable. A scoring is then assigned to each position by the percentage of orientations that are achievable at that voxel location.

Defining geometries in CAD and sending via ROS2 middleware.

The VS068 moving to a series of points

Here’s a fine ball produced in Rhino/GH, thanks to Iris and Shortest Walk.

All hail the tomato overlord

I’m just a basic first try at producing a page really. Not used markup before so it’ll be a slight learning curve!