Pickup Sticks Skulpture
Experimentations generating a robot fabricated sculpture of pickup sticks. I ordered 410 pickup sticks and have designed a pick and place sequence where the robot pulls a stick from a dispensary, drills two notches in the stick and places the geometry in the specified location. 3D planes are extracted from the geometric array and robotic arm to provide coordinates and rotation angles which are converted into joint angles via an inverse kinematic solver. One challenge is that the pickup sticks are warped as a result of the manufacturing process. Given the required accuracy of the assembly this has become quite problematic and I have chosen to mill my own sticks to insure accuracy.
New experimentations utilize a single lens reflective sensor to make real time adjustments to material properties. Upcoming projects will document this process.