Well, that was a bit of work. I have finally got the AR4-MK3 robotic arm working using ROS-2! For this I’m using Windows Subsystem for Linux (WSL), attaching the serial port to WSL, launching the AR4 driver, and bringing up RVIZ. I’ve graphically programmed some movements, so there’s not a lot of functionality now. However,Continue reading “AR4-MK3: ROS-2 Commissioned!”
Author Archives: lombardiengineering
DM2000: Linear motion components
The first update for this project is that I’ve got my linear motion system figured out, and have moved forward with assembling all the constituent parts. The mini mill is now in a state where I can start thinking more about the limit switches, motor control, and power. But before all that, I can breakContinue reading “DM2000: Linear motion components”
A brief foray into NeRFs
During CS509: Computer Vision, a class I took while going for my MS in Robotics Engineering, we made a brief detour into Neural Radiance Fields and tried to set up our own. We utilized the paper, “NeRF: Representing Scenes asNeural Radiance Fields for View Synthesis” by B. Mildenhall, P. P. Srinivasan, M. Tancik et al.Continue reading “A brief foray into NeRFs”
3-mobile holonomic robot
As a fun side-project during 2020 I built a 3-mobile holonomic robot using some aluminum extrusion, 3d printed pieces, and Arduinos for both the control board and a remote control transmitter. I’ve featured it in the video embedded below: Additionally, I’ve included some files necessary to build your own on Thingiverse: https://www.thingiverse.com/thing:4147725
Arduino Tutorial Series
I found it beneficial to publish a few videos for the students on the FIRST robotics competition team I coach. I used the videos to help introduce students to programming, but additionally basic sensors and digital IO, which are very important concepts for a competitive robot. I find that students may get caught up inContinue reading “Arduino Tutorial Series”
Clearpath Jackal UGV: Beginnings
I recently had the luck to come across a Clearpath Jackal chassis on the Facebook marketplace. The Jackal is a very common research and development UGV, however models from Clearpath can cost upwards of $18,000. Needless to say, I got the chassis at a much lower price point. There are various issues with the chassis,Continue reading “Clearpath Jackal UGV: Beginnings”
AR4-MK3: The Build
The AR4-MK3 is a well-featured open-plan 6 DOF arm designed by Chris Annin of Annin robotics. Annin Robotics – open source 6 axis robots you can build yourself The AR4-MK3 is used as a teaching aid, research platform, and general hobbyist robotic arm. This blog post dives into what it took to assemble the robotContinue reading “AR4-MK3: The Build”
DynaMyte DM2000 CNC Mill
The DynaMyte DM2000 is a miniature desktop mill from the 80s that was set up for CNC control. There were other various models, including the highly sought after DM2400 with a larger workspace. The hallmark of all of their machines is their high rigidity and sheer heft, which is in direct opposition to the recentContinue reading “DynaMyte DM2000 CNC Mill”
Cable-Driven Parallel Robot Simulation
Cable Driven Parallel Robots (CDPR) are lightweight, versatile, and have benefits that let them compete with gantry style and serial-arm manipulators. A CDPR is a mechanism with an end effector that is oriented and translated through tensioning flexible cables, rather than rotating solid links of a classic industrial robotic arm. Because CDPRs do not haveContinue reading “Cable-Driven Parallel Robot Simulation”
eSprite: It Runs!
The short of this post: I’ve got my first functional test done! I think it was an absolute success. I was able to drive, reverse, use my signals, headlights, etc. The acceleration is adequate, and when stepping on the gas it simply sounds fantastic! Very futuristic, like something powerful spooling up. The downsides are thatContinue reading “eSprite: It Runs!”
Lombardi Engineering 