PDJ Weekly Livestream #39: Jugglebot Motion Control Update and More
1:06 ROS2 Remains: Despite limitations, ROS2 will continue to be used for the project for now, allowing for a deeper understanding of its capabilities and potential challenges.
3:09 Hardware Upgrades Reduce Wobble: Newly installed carbon fiber nylon parts significantly reduce platform wobble during high-speed movements, as demonstrated through slow-motion footage.
11:27 High-Speed Camera and Lights: The livestreamer uses a Freefly Wave camera with an IRIX 150T 3.0 macro lens and Amaran 300C RGB lights for slow-motion capture.
15:10 New CAN Connector Mount: The CAN connector mount has been redesigned for stability and features a red color for easy visibility and safety.
18:09 E-Stop Functionality Restored: The emergency stop (E-Stop) system is working as intended, enabling safe and efficient recovery from errors during various stages of robot operation.
22:45 Careful State Transitions: Transitioning between different robot control modes (e.g., space mouse, shell, juggling) requires careful management to prevent abrupt movements and potential damage.
24:49 State Machine Improvements: A new state machine with standby idle and standby active states, along with a generic control mode state, facilitates smoother transitions and future expansion with new control modes.
37:03 Motion Control Insights: A paper on quadcopter trajectory generation provides inspiration for a new approach to Jugglebot's motion control, potentially replacing the previous "catch plane" concept with a more flexible, path-based system.
39:41 Ball Trajectory Simulation: A new simulation tool helps visualize ball trajectories and their intersection with Jugglebot's workspace, aiding in the development of path planning algorithms.
46:39 Path Optimization Considerations: Potential path optimization criteria include minimizing leg velocities/accelerations, minimizing distance traveled, and maintaining platform stability.
49:44 Open-Loop vs. Closed-Loop Control: The impact of open-loop control (relying on throw accuracy) and closed-loop control (using motion capture for ball tracking) on path planning will be explored.
56:02 Upcoming Stream Break: There will be no livestreams for the next two weeks due to a planned trip.