Tower Of Hanoi solved by a robot arm
This is the Tower Of Hanoi puzzle solved recursively by a Universal Robots UR5, running URScript, which is syntactically similar to Python but lacks many features such as being able to change the size of a list and lacking many built-in functions. This extra layer of challenge meant that I had to devise solutions to work around these inabilities, usually by making my own rudimentary functions.
I took a 3-week internship over the summer at a local robotics software company, Positronics Inc., and was given a variety of programming challenges to complete. The biggest one was to have the UR5 solve the Tower Of Hanoi recursively. Once that task was completed, more modules would be added as my supervisor challenged me, such as implementing the ability for the robot to be shut down with its temporary memory wiped, then restart and resume solving the puzzle.
As the video shows, the program always begins with the robot finding the size and location of each disk. When the search function is complete, the program runs the Tower Of Hanoi in the background, comparing the position of the disks to what was found by the robot. Once the data matches up, the robot arm begins to move according to the recursive algorithm and continues solving the puzzle.
There were some other features that were added at the suggestion of other Positronics employees, such as the ability to choose the purpose of each pole, or only widening the gripper to fit the disk it will grab, which significantly shortened the time it took to complete the puzzle.
I entered the internship with very little programming experience, and finished it with the confidence to pursue a career in robotics. I learned a tremendous amount about robots, robot safety and the principals of industrial robotics, and have grown significantly as a programmer. That internship was a fantastic learning experience, and I hope to have another one this summer too.
This UR5 robot arm is owned by Positronics Inc., and this video was taken in their Pleasanton office. Their website can be found at http://posincorp.com/
As seen on The Verge! http://www.theverge.com/circuitbreaker/2016/6/29/12061860/robot-arm-solves-tower-of-hanoi
Видео Tower Of Hanoi solved by a robot arm канала Yossky
I took a 3-week internship over the summer at a local robotics software company, Positronics Inc., and was given a variety of programming challenges to complete. The biggest one was to have the UR5 solve the Tower Of Hanoi recursively. Once that task was completed, more modules would be added as my supervisor challenged me, such as implementing the ability for the robot to be shut down with its temporary memory wiped, then restart and resume solving the puzzle.
As the video shows, the program always begins with the robot finding the size and location of each disk. When the search function is complete, the program runs the Tower Of Hanoi in the background, comparing the position of the disks to what was found by the robot. Once the data matches up, the robot arm begins to move according to the recursive algorithm and continues solving the puzzle.
There were some other features that were added at the suggestion of other Positronics employees, such as the ability to choose the purpose of each pole, or only widening the gripper to fit the disk it will grab, which significantly shortened the time it took to complete the puzzle.
I entered the internship with very little programming experience, and finished it with the confidence to pursue a career in robotics. I learned a tremendous amount about robots, robot safety and the principals of industrial robotics, and have grown significantly as a programmer. That internship was a fantastic learning experience, and I hope to have another one this summer too.
This UR5 robot arm is owned by Positronics Inc., and this video was taken in their Pleasanton office. Their website can be found at http://posincorp.com/
As seen on The Verge! http://www.theverge.com/circuitbreaker/2016/6/29/12061860/robot-arm-solves-tower-of-hanoi
Видео Tower Of Hanoi solved by a robot arm канала Yossky
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