Technical Skills Used :

• Python
  • Modular Programming
  • Conditional Statements
  • While Loop Structures
  • Boolean Conditions
  • Local vs Global Variables
  • Indexation Techniques
• Raspberry Pi

Other Notable Skills

• Running shells/terminals
• Reading documentation
• Technical Interviews
• Pair Programming
• Flow Charts Design
• Conducting design/code reviews

The robotic arm’s code is divided into 4 primary functions. A function to identify autoclave drop-off locations, a function to move the end effector of the arm to a position on the (x, y, z) coordinate system of the Quanser simulation environment, a function to open and close the gripper of the arm, and a function to read the ID of the container to decide and then act on opening and closing the autoclave drawer. These functions primarily rely on the muscle EMG sensor which is a virtual myoelectric arm interface that allows for different functions to perform actions based on manually set threshold values. The final program consists of spawning six containers and the above functions appearing in order of transporting the container to their respective containers. The program continues until all six containers are successfully placed in their corresponding drop-off location.

Main Program Loop

Identify_autoclave_location function

moveEndEffector function