For perception we utilize a CSI camera to perform dense image segmentation. We use a CNN to classify every pixel into "vein" or "not vein". These labels serve as target points for the our planner and controller, which actuate the toolhead to the vein.
Actuation is controlled using a commercial 3D printer driver. We leverage existing firmware packages and printing utilities to allow for communication with the stepper motors and solenoids we use for actuation.
In an attempt to improve clamping performance and resolve manufacturing issues, sections of the rail were removed and the cables were shifted to outside the arm. Ultimately performance degraded under these conditions.
Solenoids and pneumatic components are controlled using a 3D printer board as a motor driver for all motors, including 1 mini stepper motor and 1 NEMA 21. This board is also used to send signals to the solenoid manifold which manages the pneumatic actuation.
stepper_actuation_test.mp4y_axis_rail_motor_test.mp4pneumatic_actuation_test.mp4