covmatic-robotmanager 0.0.3

Covmatic Robot Manager is a robotic arm manager for action requested by other robots

RobotManager

Manager code for EVA robot from Automata.

Warning

This is a development program and not ready for production-use. This is part of a project in development.

Use

The covmatic-robotmanager comes with two scripts callable in a command shell:

• robotmanager-calibrator is a helper program useful to save precise and repeatable calibrations.
• robotmanager-server is the main server that listen for actions to do;

Data organization

The data organization has these objects:

• a target robot intended as a machine or entity made of reachable points;
• a slot intended as a part of a * target robot* to be reached.

For proper movement each target robot needs these point calibrated in order:

1. HOME is the starting position that Eva will go to before entering the target robot. Eva should move freely between HOMEs positions.
2. DECK is a position where the gripper touches the deck of the target robot. This value is used to calculate heights of labware.
3. HMAX is the maximum height reachable, calibrated with the Eva arm in the highest possibile position.

After defining these three basic positions you can define any other position for a target robot. The Eva will use this data to calculate and execute a safe trajectory to pick up or drop off a plate.

Calibration

Calibrations are saved using the robotmanager-calibrator program. Positions data are saved in the user home folder.