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ArfBot

AdvancedEnergy Storage

Runs on CODESYS industrial control system

Built by Dale ThomasReno, Nevada, United States of America

1

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ArfBot

About my build

As a controls engineer, I have wanted a way to share a real example of how a real industrial controls system is designed without sharing company property. The AR4 robot seemed like the perfect platform to enable me to do this because robots are fun to play with and the cost of the AR4 is super inexpensive - making the cost of ownership within reach for almost everyone. So I created ArfBotOS as a complete operating system for this robot and shared it open source for anyone.

Workflow / process

ArfBot can play catch! My wife moves the pen for ArfBot to find using its vision system. Once ArfBot finds the pen, it will pick it up and place it back where my wife can hide it again!

Primary use cases

  • DIY Learning Projects

Custom modifications

  • (Inferred) Control software for automated positioning
  • Added custom gripper
  • AR4 + Raspberry Pi vision stack
  • CODESYS
  • PLC communication (Modbus, EtherCAT)
  • PS5 DualSense Controller

Hardware add-ons

  • EtherCAT
  • Raspberry Pi

Software used

  • CODESYS
  • OpenCV
  • Python

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