Designing High-Performance Linear Actuators: Speed & Stiffness for my Juggling Robot | PDJ#19 Harrison Low 2026-09-28 | Designing High-Performance Linear Actuators: Speed & Stiffness for my Juggling Robot | PDJ#19
PDJ Weekly Livestream # 69 - Last Stream of 2025! Harrison Low 2025-09-26 | Wowee this was a busy week. Keen to show you the results!!!Filmed on September 26th, 2025=========== Links Specific to This Stream ===========🔗 Latest Version of Ball Butler CAD:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/27bfdc505d04b46db557163c/e/5104799fd810ebb1022a8885🔗 Ball Butler Github Repo (Includes the Schematic):github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/Ball%20Butler================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:26 - Stream Starts05:04 - Ball Butler Works! (Mostly)09:20 - Controlling Each Axis25:55 - Inside the Base28:19 - Strange Misalignment in the Big Gear30:20 - Hand Motor Thermistor31:50 - Changes to Ball Butler's PCB33:16 - Some Dodgies...50:07 - A New Favourite Tool53:00 - A Rant on Terminating Strings1:14:50 - Demo!1:17:55 - My Plan for the Rest of the Year1:19:50 - A Problem with CAN1:23:42 - Continuing on My Plan For the Year
PDJ Weekly Livestream # 68 - Ball Butler Redesign is Done! Harrison Low 2025-09-19 | This week involved a lot of CAD work, which was good fun! Now, pretty much everything has been printed off so all that's left is construction and code! I'm hopeful that next week could see some throws!!Filmed on September 19th, 2025=========== Links Specific to This Stream ===========🔗 Latest Version of Ball Butler CAD:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/ad37f23c0762969aa60cd89c/e/5104799fd810ebb1022a8885🔗 Ball Butler Github Repo (Includes the Schematic):github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/Ball%20Butler================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 Intro Countdown00:27 Stream Starts01:50 Old Ball Butler Deconstruction06:20 Lid Updates18:44 Base Updates23:50 Hand Actuator Updates35:35 Uncertainties Regarding the Hand46:25 Goal for Next Week48:55 One Way To Throw Higher52:10 Should Ball Butler Have its Own E-Stop?56:45 Plan for Today and Closing Remarks
PDJ Weekly Livestream # 67 - At Last! Ball Butler Can Throw! Harrison Low 2025-09-12 | There was a lot of frustration this week. But at last, Ball Butler can finally throw, and I can see light at the end of the tunnel!Filmed on September 12th, 2025=========== Links Specific to This Stream ===========🔗 Latest Version of Ball Butler CAD:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/1c95b11f9a628b3d8b6b1477/e/5104799fd810ebb1022a8885🔗 Ball Butler Github Repo (Includes the Schematic):github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/Ball%20Butler🔗 AMT21 Encoder Datasheet:au.mouser.com/datasheet/3/6118/1/amt21-v.pdf================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:25 - Stream Starts01:55 - ROS is Back! (Probably)11:34 - AMT21 Wiring Gripe17:04 - Getting the Hand to Throw...44:40 - Misc. Problems56:50 - Implications of a Longer Hand Stroke1:01:12 - What About a (Semi) Mechanical Thrower?1:05:50 - Ball Butler's Floppy Lid1:14:55 - What if the Base Flexes?1:20:00 - Yaw Inverse Kinematics1:28:36 - Final Remarks
PDJ Weekly Livestream # 66 - Finally Learning to do Things Properly! Harrison Low 2025-09-05 | This week I couldn't help but feel that I should do a little more planning for the next stages of Ball Butler. These plans have taken some time to put together, but I've already found a few problems that I undoubtedly would've run into later if I hadn't done this planning now.This likely won't be the most entertaining stream, but I believe this is work that had to be done, and I think it will hopefully mean that future development goes much more smoothly than what I'm used to.Filmed on September 5th, 2025=========== Links Specific to This Stream ===========🔗 Latest Version of Ball Butler CAD:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/0d37f3bb4d6ec0312b26e0fe/e/5104799fd810ebb1022a8885🔗 Ball Butler Schematic:github.com/Project-DeepBlue-Juggling/Jugglebot/blob/main/Ball%20Butler/ball_butler_circuit_diagram/Ball%20Butler%20Schematic%20Dark.pdf🔗 Jugglebot ROS / RQT Graph (as of today):drive.google.com/file/d/1npYvM144cvTQAy2CahwV4I08MuyJfVg9/viewcan_interface_node should also be here, but since I didn't have the robot connected when I generated this graph, that node had already shut down by the time rqt loaded🔗 DS90LV047A Differential Driver Datasheet:ti.com/lit/ds/symlink/ds90lv047a.pdf?ts=1756964125282&ref_url=https%253A%252F%252Fwww.google.com%252F🔗 AMT21X Encoder Datasheet:au.mouser.com/datasheet/3/6118/1/amt21-v.pdf🔗 45V to 24V 20A Converter:https://www.amazon.com.au/dp/B0BRWDYKBJ?ref=ppx_yo2ov_dt_b_fed_asin_title&th=1🔗 Wintergatan Marble Gate Video:youtube.com/watch?v=IPxs7T6iY10🔗 TOPDON TC001 Plus Thermal Camera:au.topdon.com/products/tc001-plus?srsltid=AfmBOoqSskffYxRaWRlUOdPEaqJC1KViiFgQ9ghWC5yO1au7QT1VbzoY🔗 TOPDON TC001 Mount Setup (Inspiration Videos):youtube.com/watch?v=vm06tfJ-M_AMaking of:youtube.com/watch?v=V0gRrd_cdcE================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:24 - Stream Starts01:18 - Hand Encoder Update11:00 - CAD Updates25:30 - CAN Frame Update47:26 - Programming Block Diagram1:10:00 - System-Level Schematic1:18:30 - Ball Butler Power Update1:33:50 - Main Ball Butler Schematic1:37:10 - The Value of Planning1:42:00 - Early Plans for the Ball Dropper1:50:10 - Update on the Thermal Camera1:55:00 - 2025 Stream Updates
PDJ Weekly Livestream # 65 - Its Been an Interesting Few Weeks! Harrison Low 2025-08-29 | This week saw a lot of frustration, but at least I was able to channel that into doing some documentation and planning that I really should've done some time ago... Better late than never!Filmed on August 29th, 2025=========== Links Specific to This Stream ===========🔗 Latest Version of Ball Butler CAD:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/c496457d4aba24cddd9c071d/e/5104799fd810ebb1022a8885🔗 Info on Time-Sync 'Layer':Livestream where I first described this:youtu.be/pNh-f9I1GJg?t=1106The code itself is split between `can_interface.py`, `can_interface_node.py` and `Teensy_code.ino`. Just search for 'sync' and you should find it. Here are links to the three modules:`can_interface`:github.com/Project-DeepBlue-Juggling/Jugglebot/blob/main/ros_ws/src/jugglebot/jugglebot/can_interface.py`can_interface_node`:github.com/Project-DeepBlue-Juggling/Jugglebot/blob/main/ros_ws/src/jugglebot/jugglebot/can_interface_node.py`Teensy_code`:github.com/Project-DeepBlue-Juggling/Jugglebot/blob/main/ros_ws/src/jugglebot/Teensy_code/Teensy_code.ino🔗 Ball Butler Throw Simulation:github.com/Project-DeepBlue-Juggling/Jugglebot/blob/main/Ball%20Butler/simulating_throw_types.py🔗 Ball Butler Schematic:github.com/Project-DeepBlue-Juggling/Jugglebot/blob/main/Ball%20Butler/ball_butler_circuit_diagram/Ball%20Butler%20Schematic.pdf🔗 TOPDON TC001 Plus Thermal Camera:au.topdon.com/products/tc001-plus?srsltid=AfmBOoqSskffYxRaWRlUOdPEaqJC1KViiFgQ9ghWC5yO1au7QT1VbzoY🔗 TOPDON TC001 Mount Setup:youtube.com/watch?v=vm06tfJ-M_AMaking of:youtube.com/watch?v=V0gRrd_cdcE================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:27 - Stream Starts02:00 - What will Throws to Jugglebot Look Like?15:25 - Plan for Inter-Robot Communications27:40 - Jugglebot to Ball Butler Commands (Plan)33:40 - Ball Butler to Jugglebot Feedback (Plan)36:03 - How Will the Jugglebot and Ball Butler Clocks be in Sync?40:00 - Back to BB to Jugglebot Feedback46:25 - How Will Ball Butler 'Think'?52:24 - Updates to the Schematic!1:00:27 - The Most Complex Part I've Ever Modelled1:15:00 - Some Problems With My Current Plan...1:28:56 - Thermal Camera!1:39:10 - Final Remarks
PDJ Weekly Livestream # 64 - Things Are Looking Good For Ball Butler! Harrison Low 2025-08-08 | The last week was a surprisingly productive one, with big developments happening in both the design and control of Ball Butler! 😁Filmed on August 8th, 2025=========== Links Specific to This Stream ===========🔗 Latest Version(s) of Ball Butler CAD:Main Branch: cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/w/58a21fff0c13c6549ee3697c/e/f925c0a5f842dda698974b97Low Hand Motor Branch: cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/f941deff376fbd420fd2b1b5/e/f925c0a5f842dda698974b97🔗 Ball Butler Code (`ball_butler_main`) and "Schematic":github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/Ball%20Butler🔗 Zulip Topic for Ball Butler's Wiring Diagram(s):pdj.zulipchat.com/#narrow/channel/514522-Ball-Butler/topic/Wiring.20Diagram🔗 USB to CAN Adapter:https://core-electronics.com.au/usb-to-can-adapter-model-a-stm32-chip-solution-multiple-working-modes-multi-system-compatible.html🔗 Tracklab Mocap Marker 10 pack:https://store.tracklab.com.au/products/marker-6-4mm-1-4-m3-thread-10-pack🔗 Retroreflective Dots:https://www.amazon.com.au/dp/B0DC75JLGG================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:30 - Stream Starts01:20 - Getting the ODrive Micros Working15:00 - CANundrum Once Again?17:00 - Demo!25:25 - How Will Ball Butler Know the True Thrower Angle?36:13 - What To Do About the Hand Motor?59:22 - What To Do About Poor Electronics Access?1:09:40 - Some Silly Things1:16:44 - Cheap Mocap Markers?1:21:54 - On SPI Cabling1:25:40 - Closing Remarks
PDJ Weekly Livestream # 63 - Ball Butler is ALMOST Alive! Harrison Low 2025-08-01 | I tried my best to get Ball Butler functional for this stream, but unfortunately time was not on my side. The robot is now built, but I'm running into (hopefully small) problems getting the ODrive Micros working...Filmed on August 1st, 2025=========== Links Specific to This Stream ===========🔗 Latest Versionn of Ball Butler CAD:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/42f94565538f6fb24984d0f6/e/5104799fd810ebb1022a8885?renderMode=0&uiState=688c02b7b7e2321c85757921🔗 Multiboard Single Cell:thangs.com/designer/Multiboard/3d-model/Tile%20Components%20-%20STEP%20Multiboard%20Remixing%20Files-994681🔗 Onshape API Export Code:github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/experimenting/Onshape%20API%20Export🔗 Flow Launcher (for Emoji Keyboard):github.com/kalvn/Flow.Launcher.Plugin.EmojiFinder================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:26 - Stream Starts01:51 - Where Things Were Last Week02:30 - Current Design09:42 - Some Serendipity15:45 - Base CAD Changes43:00 - Pitch Axis CAD Changes1:02:43 - Demo!1:17:20 - Ongoing Problems...1:26:05 - On Braking the Hand1:29:51 - What's Next?1:31:14 - Emoji Keyboard is Fixed!1:33:35 - Onshape API Export Update1:37:50 - Final Remarks
PDJ Weekly Livestream # 62 - So Much Tedium: Done! Harrison Low 2025-07-25 | This week had a lot of tedium with wiring and putting together the circuit board for Ball Butler. Thankfully every component that I've tested (so far just power conversion and CAN) has worked flawlessly, and I'd be surprised if there are issues with the other parts. We're getting there!Filmed on July 25th, 2025=========== Links Specific to This Stream ===========🔗 "Life Changing Tips for Wicking Solder":youtube.com/watch?v=IjOh5ShVX_w🔗 Latest Versionn of Ball Butler CAD:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/b293f1e50ce4dccdbd0e5a68/e/5104799fd810ebb1022a8885?renderMode=0&uiState=6882d5781738c665023ce96b🔗 Multiboard Stuff:multiboard.io/get-startedhandsonkatie.com/underware-2-0-the-made-to-measure-collection🔗 Onshape API Export / AutoHotKey Code:github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/experimenting/Onshape%20API%20Export🔗 Onshape Docs on Setting Up API Keys:onshape-public.github.io/docs/auth/apikeys================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:27 - Stream Starts01:48 - Ball Butler Circuit Board is Done!21:03 - CAD Updates52:24 - I Now Know How to 3D Print Smooth Curves!1:00:36 - Exporting from Onshape (Using an API)1:15:55 - Cool Things That You Suggest I Buy1:21:50 - Final Remarks
PDJ Weekly Livestream # 61 - Its Time to Build! Harrison Low 2025-07-18 | I've decided to properly knuckle down and get Ball Butler V0 DONE. We now have (what I believe to be) finished CAD, so the next step is to print everything off, wait for some stuff to arrive, then test it out! 🤞🤞Filmed on July 18th, 2025=========== Links Specific to This Stream ===========🔗 Slip ring:aliexpress.com/item/4000490340195.html?spm=a2g0o.order_list.order_list_main.11.4c8d1802oHBIFK🔗 Current Ball Butler Document:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/845bf7cade8c6407f68b8f6a/e/5104799fd810ebb1022a8885?renderMode=0&uiState=68799b4763d28c3c5631019d================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:21 - Stream Starts02:23 - Fun Adjacent Though - Reposition Ball Butler's Hand11:01 - Slip Rings Are Cool!24:45 - Removing the Encoder From a Brushed Motor Worked!30:30 - CAD Tour!31:17 - The Base39:22 - The Lid46:45 - Fasten the Lid to the Base51:30 - The Arms54:28 - Adding the Main Ring58:13 - Putting it All Together!1:04:36 - Wiring and General Aesthetics1:12:22 - Whole Room CAD1:16:25 - On Braking the Hand1:20:42 - FeatureScript to Export 3MF??1:22:00 - How to 3D Print a Smooth Curve?1:27:15 - Pls Help Me Fix Mu Emoji Keyboard1:29:32 - How to Get Balls Into Ball Butler?1:36:09 - Final Remarks
PDJ Weekly Livestream # 60 - Bye-Bye Belt Drives 😅 Harrison Low 2025-07-11 | This week saw a lot of frustration with Onshape's FeatureScript, but the end result is a much-improved process to create a standard parts library, and a big change to how the base of Ball Butler will be actuated!Work has also begun on a testing rig to validate the feasibility of an almost entirely mechanical throwing mechanism - an idea I'm very interested in!Filmed on July 11th, 2025=========== Links Specific to This Stream ===========🔗 Motion Capture Data of Me Juggling:drive.google.com/drive/u/2/folders/1mr2fu5Jrp4y6er7Wa5iQMWZVAHJSYiT6🔗 Current Ball Butler Document:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/fcd564345cf1826b59950c79/e/0eef08dd888af369e5dd61b1?renderMode=0&uiState=68705dbdcdccd91b2155144e🔗 Mishin Machine video on Trochoidal Drives:youtube.com/watch?v=VXcuryyRGbo🔗 "Envelope" Onshape Featurescript Forum link and Onshape Document:forum.onshape.com/discussion/16076/feature-script-roll-form-die-how-to-subtract-transformed-parts-in-a-loopcad.onshape.com/documents/8debf48a92e4eff2ad42217d/w/a8176d7619e9aff1cac8d3e6/e/4a3af5cbdf6a64e5fdb2e136🔗 Bevel Gear Featurescript and Forum Which Includes Other Gear Types:forum.onshape.com/discussion/20956/feature-script-for-spiral-bevel-gearscad.onshape.com/documents/f7653ecf9bfe2fbd9bf129e3/w/15645947644b599077050134/e/6478ce629fe76ce59e1ee813🔗 Spring Hand Testing Document:cad.onshape.com/documents/07f35b7e3b9faf430f3b7e24/v/b5d81a1378a37e9c01875e67/e/fdd702fce71d74fbc51be7bd?renderMode=0&uiState=68705dcde7ff2963bd8eaa68🔗 Washers Library:cad.onshape.com/documents/e13896240e5c62a8c8169109/v/a346f7db88b23f7d10ceaee9/e/d89769ac438c3af5bd826db3?configuration=InnerDiameter%3D0.005%2Bmeter%3BOuterDiameter%3D0.01%2Bmeter%3BThickness%3D0.001%2Bmeter&renderMode=0&uiState=68705e22335ead6ab00a593a🔗 Custom Part Naming FeatureScript:cad.onshape.com/documents/ad13d878c959da0a18b3ccd3/v/b2aa967505e07b601b7d38cd/e/5ade240d6b17cf0b247cbb3d?renderMode=0&uiState=68705d8e335ead6ab00a58ca================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:18 - Stream Starts01:19 - Fun Tangential Thought: Juggling Room13:35 - Feedback: Why BLDC Motors?21:55 - Feedback: Why Worry About Impacts?27:08 - Feedback: Why Use Belts at All?29:00 - Bye-Bye Belt Drive!1:06:18 - Feedback: Off-Axis Encoder with Gears/Belts1:13:10 - Is a Mechanical Thrower Feasible?1:26:45 - Mechanical Thrower Testing Rig CAD1:40:10 - An Aside on Printing With Supports1:48:00 - Onshape Library Updates2:05:55 - On Trad Climbing
PDJ Weekly Livestream # 59 - My First Belt Drive is Looking Good! Harrison Low 2025-07-04 | Ball Butler's base is coming along now! There are still a few main components left to design, and I have a couple lingering questions that may only be answered once prototypes are built. All in all, I'm happy with how Ball Butler is developing!Filmed on July 4th, 2025=========== Links Specific to This Stream ===========🔗 Current Ball Butler Document:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/48dc4937e6f6d8eabbb060de/e/0eef08dd888af369e5dd61b1?renderMode=0&uiState=68672386e4104c1d9cd632ad🔗 Incorrect Base Idler Pulleys Document:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/ccb1ef17f8aaff552de4c553/e/5d9d2677c34055d9cc9c9f49?renderMode=0&leftPanel=false&uiState=6867232de4104c1d9cd631ac🔗 Washer Onshape Document:cad.onshape.com/documents/e13896240e5c62a8c8169109/v/9929310330a89c584f0c911e/e/b01f214033563783e59c8459?configuration=List_8DJ9ttsTvGmv8W%3DDefault&renderMode=0&uiState=6867230ee4104c1d9cd63124================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:26 - Stream Starts01:00 - Pitch Axis String Length Discrepancy12:39 - Does Anticogging Help Position Accuracy?20:04 - Base Actuation CAD41:34 - Other CAD Updates45:16 - Off-Axis Encoder?52:40 - No (Electrical) Braking!1:01:46 - Using a Spring to Throw the Ball?1:06:42 - Ball Butler's Power Situation...1:13:16 - A Better Onshape Library1:18:00 - General Thoughts1:23:46 - Update on my Electronics Binder1:26:13 - Spring Thrower Modelling
PDJ Weekly Livestream # 58 - Everything is a Lot Faster the Second Time Around! Harrison Low 2025-06-20 | Ball Butler is coming along! It's nice to see how easily some of these things come together when you know what you're doing...Filmed on June 20th, 2025=========== Links Specific to This Stream ===========🔗 Piano Juggling:youtube.com/watch?v=AxHt4-GDvck🔗 Said and Done, by Nils Frahm:youtube.com/watch?v=T62feNLeQA0🔗 Now, Run, by Hania Rani:youtube.com/watch?v=CWpVs8XH3w0🔗 BLDC Motor Indicator Dial Test Rig CAD:cad.onshape.com/documents/cc43f384d1505390c0f68f4e/w/57cf19b565811ce5ce08202f/e/bfe32fdda07bde79b9cc6147?renderMode=0&uiState=6854de34805c2b48b940f83a🔗 Ball Butler CAD with Rotating Pitch Shaft (and Hollowed Main Ring):cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/21482245060d0276239ce9a9/e/f925c0a5f842dda698974b97?renderMode=0&uiState=6854de762b0f212b7627506d🔗 Ball Butler CAD with (rough) New Base Motor Position:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/45a324c5219fca0136c4240c/e/5104799fd810ebb1022a8885?renderMode=0&uiState=6854debb2b0f212b7627516b================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:28 - Stream Starts02:10 - Fun Tangential Thought - Bounce Piano Jugglebot!06:50 - Motor Testing Went Well!23:56 - How Precisely Can We Control These Motors?40:10 - Changing the Base Actuation45:15 - CAN Bus Progress1:08:35 - To Use Only ODrive Pros? Or Pro and v3.6?1:13:38 - CAD Updates1:25:10 - Custom Encoder PCBs?1:27:50 - Demo of Tensioning Mechanism1:30:22 - On Cable Routing1:34:40 - Hand Bumper Ideas1:40:15 - How to Store/Use Hookup Wire??1:43:40 - Final Remarks
PDJ Weekly Livestream # 57 - Progress on Ball Butler is Going Well! Harrison Low 2025-06-13 | Ball Butler is coming along! Lots of fun (and frustration) was had over the last two weeks.Filmed on June 13th, 2025=========== Links Specific to This Stream ===========🔗 One for Wendy, by French 79:youtube.com/watch?v=_9o-Hsgt2rs🔗 Jugglebot Bangers 🎵 Topic on Zulip:pdj.zulipchat.com/#narrow/channel/399279-General/topic/Jugglebot.20Songs.20.F0.9F.8E.B5/with/523861950🔗 Ball Butler CAD:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/w/58a21fff0c13c6549ee3697c/e/f925c0a5f842dda698974b97🔗 AS5047P Chip Datasheet:docs.rs-online.com/0317/A700000006808808.pdf🔗 AS5047P Eval Kit Datasheet:farnell.com/datasheets/3723575.pdf?_gl=1*1o6pqc2*_gcl_aw*R0NMLjE3NDk1NjAyNDIuQ2p3S0NBandyNV9DQmhCbEVpd0F6ZndZdUs3d2h1WnVzMWR0RExFSU1JbENZSTdWRXZhSTk0WHptbjVScnYtTkFZQTBrazBzUzRXamZCb0NaeVlRQXZEX0J3RQ..*_gcl_au*NDk2ODc4NTE1LjE3NDg0ODcwMjcuMTUzMzA2NjE4MS4xNzQ5NTYxNzM2LjE3NDk1NjE3Mzg.🔗 AS5048B Chip Info:ams-osram.com/products/sensor-solutions/position-sensors/ams-as5048b-high-resolution-position-sensor🔗 Magnetic Field Viewing Film:https://aussiemagnets.com.au/products/magnetic-viewing-film?srsltid=AfmBOoqCjoGQD84t4aoe602fIhJ-5p9DMo0Vzgc95dVD4Whw2mcKpLfI🔗 Magnet Onshape Library:cad.onshape.com/documents/d00d34d253f269863d001dcb/w/e069158dcabf08b67c2724a3/e/fcf09e26c28a03eea4f4351a🔗 ESD: The Shocking Truth (Apple video on static charge):youtube.com/watch?v=tcRqj9FhgcE🔗 Electronics Storage Parts:Zipper binder: https://www.amazon.com.au/dp/B077HK6PPC?ref=ppx_yo2ov_dt_b_fed_asin_title&th=1Binder Divider Sheets:https://www.amazon.com.au/dp/B076122CSR?ref=ppx_yo2ov_dt_b_fed_asin_title9 Pocket Sheets:https://www.amazon.com.au/dp/B085BQTXR7?ref=ppx_yo2ov_dt_b_fed_asin_title&th=1Anti-static Bags:https://www.amazon.com.au/dp/B0CZ3KPW8V?ref=ppx_yo2ov_dt_b_fed_asin_title&th=1================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:29 - Fun Tangential... Question05:31 - Stage 2 (Pitch) is Going Great!25:20 - Tedium of Encoder Research...39:55 - Setting up an Onshape Library the Right Way44:26 - I'm a Static Factory 🙄48:10 - Building my Electronics Components Stockpile52:54 - Responding to Feedback (from Zulip)54:27 - Idea: Hand-Stop End Bumper1:03:06 - Issue: Asymmetric Hand Might Twist1:08:33 - Suggestion: Don't Tie the Hand String to the Spool1:14:06 - Issue: Ball Butler May Not be Accurate Enough1:18:42 - Suggestion: You Can Do Just About Anything, But Not Everything
PDJ Weekly Livestream # 56 - Its Time for Jugglebot to Have a Friend Harrison Low 2025-05-30 | I've finally decided to pull the trigger and commit to building Jugglebot a friend - a small, 3DoF robot that will be capable of launching balls to Jugglebot (or me!) on command. Hopefully this will minimize the amount of resetting I need to do by hand!Filmed on May 30th, 2025=========== Links Specific to This Stream ===========🔗 Ball Butler V0 CAD:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/1489e22ae4513596da4e60b9/e/5104799fd810ebb1022a8885?renderMode=0&uiState=6838fa0dfe421075d1bed3cc🔗 FunctionalPrintFriday YouTube Channel:youtube.com/c/FunctionalPrintFriday🔗 3D Printed Nets:makerworld.com/en/models/526265-thin-soft-nets-of-various-sizes#profileId-443302My (very inefficient but functional) FeatureScript:cad.onshape.com/documents/2ef1207fa7dd73f3d4743cad/w/440dbb5460f8f5a1d5c289e3/e/70b2dc09b195d3efd89bb288?renderMode=0&uiState=6838f0861cfc0c27d93353db🔗 Filament Indicator Model:makerworld.com/en/models/1455763-filament-indicator-2-5-positions-custom-text#profileId-1517226🔗 'Main Ring' model with pulleys:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/v/1f39377f08244de01708ab27/e/5d9d2677c34055d9cc9c9f49🔗 Jeremy Fielding video on Proximity Sensors (and others):youtu.be/S6GpV431nww?t=966🔗 Catching Cone CAD:cad.onshape.com/documents/dda3e0102e265340a4ddd2c1/v/5cfba6ba614c6987cafb4970/e/bf808129705f4031b8a2677a🔗 Aaed Musa Video on Capstan Drives:youtu.be/MwIBTbumd1Q================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:28 - Side-Quest Introduction04:55 - Some Cool 3D Print Ideas09:55 - Ball Butler - The Hand27:27 - Ball Butler - Stage 2 (Pitch Control)39:39 - Quick Onshape Part Library Tangent...42:14 - Back to Stage 249:39 - Should I Use (Secondary) Absolute Encoders?55:22 - Ball Butler - Stage 3 (Yaw Control)59:53 - Considering Proximity Sensors1:01:53 - On the Dread of CAD-ing a New Part1:04:44 - How to Load Balls into the Hand?1:11:11 - Am I Committed to This Side-Quest?1:13:50 - Battery Power?1:15:28 - Motion Capture Geometry is Driving me Mad1:23:34 - On My Design Process1:26:23 - Aaed Musa Inspiration
PDJ Weekly Livestream # 55 - Time for Jugglebot to Moonlight in the NBA? 🤔 Harrison Low 2025-05-16 | The last two weeks have had their fair share of ups and downs, but the result is very cool! I'm keen to show you the progress 😊Filmed on May 16th, 2025=========== Links Specific to This Stream ===========🔗 Teensy Code:github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/ros_ws/src/jugglebot/Teensy_code🔗 All ROS2 Nodes:github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/ros_ws/src/jugglebot/jugglebot🔗 generate_kdtree.py:github.com/Project-DeepBlue-Juggling/Jugglebot/blob/main/experimenting/platform_calibration/calibration_grid/generate_kdtree.py🔗 Functional Print Friday video on bellows:youtu.be/UFrWfnwD3aU?list=LL&t=1035🔗 My Bellows Testing Onshape Model:cad.onshape.com/documents/0236a86bf2c6a32a3111eba1/w/97e03ecccfa165b3a4b75966/e/1718ee80443bcc85cc0f1c64?renderMode=0&uiState=682680cfb4331a4303aa68c8================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Kerfuffle03:05 - Actual Start06:50 - Teensy is Responsible For Hand Control Now18:26 - Teensy and ROS2 Clocks are now in Sync!37:00 - Some Small Optimizations54:14 - Orienting Jugglebot is Still Troublesome...1:03:52 - Demo Time!1:12:28 - Coordinate Frame Mismatch Strikes Again1:20:56 - Why Does Jugglebot Sometimes Miss?1:42:47 - Bellows Update1:50:44 - No Stream Next Week1:51:06 - Final Remarks
PDJ Weekly Livestream # 54 - Jugglebot is Almost Shooting Hoops 😁 Harrison Low 2025-05-02 | This week had its fair share of boring tasks (like waiting for 2+ hours for the calibration poses to run...) but has absolutely been for the better! We can now (fairly) precisely command Jugglebot to a desired pose and it will be extremely close to that pose when it arrives! The next step is to get Jugglebot shooting hoops... We're very close!Filmed on May 2nd, 2025=========== Links Specific to This Stream ===========🔗 Fun with Juggling Lab Playlist:youtube.com/playlist?list=PLa8cDzBX7TEqavzNMUAP4BEDR4JZ1hBon🔗 generate_kdtree.py:github.com/Project-DeepBlue-Juggling/Jugglebot/blob/main/experimenting/platform_calibration/calibration_grid/generate_kdtree.py🔗 hoop_sinker_node.py:github.com/Project-DeepBlue-Juggling/Jugglebot/blob/main/ros_ws/src/jugglebot/jugglebot/hoop_sinker_node.py================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:24 - Stream Starts02:20 - Banger Beats 🎵04:53 - How I'm Calibrating for Orientation14:23 - 2174 Poses is a Lot to Search Through!22:08 - Does Orientation Calibration Work?39:20 - Small Update on Jetson Memory42:40 - Update on Mocap Handling51:50 - Can Jugglebot Shoot Hoops?1:00:09 - What's Going on Here?1:08:15 - How to Improve Hand Control?1:23:40 - Final Remarks
PDJ Weekly Livestream # 53 - Jugglebot Finally Obeys! (as long as it stays flat) Harrison Low 2025-04-18 | Finally! This week had some scary moments (while tuning a PID controller for the whole robot—an idea I've put aside for now) but has ended on a very high note! I'm keen to share my findings with you.Filmed on April 18th, 2025=========== Links Specific to This Stream ===========🔗 Linear Actuator Measuring Apparatus:cad.onshape.com/documents/7a9dc32256a8e421fd2eeca8/w/6f37bd998ac0b334cedd8da3/e/18d436ca046540e69a7c5f1d?configuration=List_cOpoT4Sxx3vHgu%3DFlexi_Leg&renderMode=0&leftPanel=false&uiState=680194557061bb49fe82530e🔗 Motion Capture Data:drive.google.com/drive/folders/15zmiOeVi-2QDejXqTVfB0cKmAORQF2_w?usp=sharing================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:32 - Stream Starts01:16 - Updated the Base Markers (again)10:38 - Found a (Partial) Source of Position Discrepancy!16:07 - System-Level PID Control?24:57 - Offset Grid Compensation Works Extremely Well!35:33 - How Long Does This Correction Take?39:10 - How Did I Structure This Code?40:45 - Possible Improvements50:42 - Some Strange Things...53:50 - No Stream Next Week54:43 - Final Remarks (Wobbly Printer Update)
PDJ Weekly Livestream # 52 - Robot Control is Not Simple :) Harrison Low 2025-04-11 | I've got a lot of small (but fun!) updates for you all, as well as some... disappointing... results from the leg measuring process...Filmed on April 11th, 2025=========== Links Specific to This Stream ===========🔗 "Fun with Juggling Lab 3":youtube.com/watch?v=CQaVylbJTHk🔗 "Fun with Juggling Lab 4":youtube.com/watch?v=vAi1aX7O8lY🔗 DisneyResearchHub:youtube.com/user/DisneyResearchHub🔗 Earlier troubles with printing the bellows:youtu.be/mhaQtROZRVs?t=1889🔗 Motion Capture Data:drive.google.com/drive/folders/1IWbIC9wpnzwqhKOxruLQ3adYYhToBi6C?usp=sharing================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:28 - Stream Starts01:18 - Fun Tangential Thought06:50 - I Bought a Bambu H2D (and I love it)15:38 - I Finally Have a Good Stock of Bolts16:40 - Getting the Hang of Motion Capture33:13 - Leg Measuremrents Didn't (Obviously) Help...1:00:43 - Time for Closed-Loop Control?1:07:20 - On Changing My Rationalizations
PDJ Weekly Livestream # 51 - Jugglebot Lives Once Again! Harrison Low 2025-03-28 | At last, Jugglebot is back together again! Unfortunately I haven't been able to test it yet, but good things come to those who wait (or so I'm told...). In the last week I was also able to make some progress on two other side projects: the development of new linear actuators, and a 'ball primer' to throw new balls in to Jugglebot.Filmed on March 28th, 2025=========== Links Specific to This Stream ===========🔗 Code and Data for Linear Actuator Testing:github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/experimenting/platform_calibration/measuring_leg_mapping🔗 Onshape Model for New Linear Actuator:cad.onshape.com/documents/023945c631720e2f395a3461/w/edda70b8fe12079d2a0cf3cf/e/3a8cfaa843526e300a828ffd?renderMode=0&uiState=67e5e1a503cac275cf0426b6🔗 Onshape Model for Ball Primer:cad.onshape.com/documents/b9a77ae444a199ae8fa4f0ef/w/58a21fff0c13c6549ee3697c/e/fdcae52c8cdd4dea33ead800?renderMode=0&leftPanel=false&uiState=67e5e16003cac275cf04252e================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown01:09 - Jugglebot is Back Together Again!06:00 - Fun Tangential Thought09:00 - Digging Deeper Into Leg Data...32:05 - One of the Bellows is Broken...33:55 - New Linear Actuators1:04:56 - Ball Primer Update1:19:53 - New 3D Printer?? (Bambu H2D)
PDJ Weekly Livestream # 50 - Jugglebot is Ready to be Reconstructed (at last!) Harrison Low 2025-03-21 | Finally, the testing of the actuators is done! This testing wasn't as smooth (or effective) as I'd have liked, but I think it's as good as we're going to get for now... At last, Jugglebot can be rebuilt!Filmed on March 21st, 2025=========== Links Specific to This Stream ===========🔗 Github repo with testing data:github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/experimenting/platform_calibration/measuring_leg_mapping🔗 Onshape model for testing rig:cad.onshape.com/documents/7a9dc32256a8e421fd2eeca8/w/6f37bd998ac0b334cedd8da3/e/18d436ca046540e69a7c5f1d================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:28 - Stream Starts01:33 - Fun Tangential Thought06:50 - JLC3DP Parts Arrived!10:44 - Initial Actuator Tests28:48 - Data is Decent, But Not Perfect...44:11 - This Process Was NOT Smooth Sailing...51:22 - "Unbalanced Phases" Error Returns57:18 - These Linear Actuators Have Many Problems1:05:42 - Rusty Bolt Problem1:10:12 - Final Remarks
PDJ Weekly Livestream # 49 - Its Almost Time to Measure Jugglebots Legs! Harrison Low 2025-02-28 | This was a satisfying week! The ICs worked perfectly, and setting up the CAN bus to log linear scale data was cruisy! It's amazing how easy things can be when you know what you're doing!Now we're just waiting on some parts to arrive and we can (finally!) measure Jugglebot's legs 😁Filmed on February 28th, 2025=========== Links Specific to This Stream ===========🔗 74HC14 Schmitt-Trigger:mouser.com/datasheet/2/308/74HC14.REV1-34947.pdf?srsltid=AfmBOooT-YWgLBk2Eurs5L1UJAhta1y3CBvZ1W6bPMx8cgv-YOq2wPts🔗 7407 Buffer:ti.com/product/SN7407🔗 Measuring Leg Mapping Data/Code:github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/experimenting/platform_calibration/measuring_leg_mapping🔗 Teensy Quadrature Encoder Library:github.com/mjs513/Teensy-4.x-Quad-Encoder-Library🔗 A very useful forum thread about the Teensy Quadrature Encoder Library:forum.pjrc.com/index.php?threads/teensy-4-x-h-w-quadrature-encoder-library.58478🔗 Onshape model for the DAQ board and case:cad.onshape.com/documents/7a9dc32256a8e421fd2eeca8/w/6f37bd998ac0b334cedd8da3/e/426e71a256b4ae857f5fe4e8?renderMode=0&uiState=67c00488d017652945c48c07================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:13 - Stream Starts01:15 - Integrated Circuits Worked Perfectly!06:30 - Linear Slider Oscilloscope Demo13:00 - We Can Now Sample at 1000Hz!14:35 - This Process Was Not Without its Problems...20:30 - Leg Measurement Demo30:56 - There are Still Some Improvements to Make...39:20 - No Stream Until 21/3
PDJ Weekly Livestream # 48 - (Mis)Adventures with Linear Scales Harrison Low 2025-02-21 | This was a very frustrating week at times! Filmed on February 21st, 2025=========== Links Specific to This Stream ===========🔗 Measuring Leg Mapping Data/Code:github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/experimenting/platform_calibration/measuring_leg_mapping🔗 Linear Scales:Aliexpress:aliexpress.com/item/1005003972488138.html?spm=a2g0o.order_list.order_list_main.35.375b1802wIfh9g#nav-specificationVevor:https://www.vevor.com.au/linear-scale-c_10122/550mm-linear-scale-for-milling-lathe-machine-linear-glass-scale-replace-aluminum-p_010614123906================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:26 - Stream Starts02:12 - Fun Tangential Thought07:03 - Taking a Pause from Geometry Optimization20:27 - (Mis)Adventures with Serial on Linux24:25 - Serial Data is Noisy!46:40 - Can we Use the 1 m Scale After All?54:55 - Closing Remarks
PDJ Weekly Livestream # 47 - Geometry Optimization Update Harrison Low 2025-02-14 | This was a slow week at times... Lots of waiting for data collection and optimizers to run. Some progress has been made towards finding a more optimal/correct robot geometry, but there's still some work to be done.Filmed on February 14th, 2025=========== Links Specific to This Stream ===========🔗 Stewart Platform Error Identification/Compensation Paper:researchgate.net/publication/342499104_An_Error_Identification_and_Compensation_Method_of_a_6-DoF_Parallel_Kinematic_Machine🔗 Calibration pose generator:github.com/Project-DeepBlue-Juggling/Jugglebot/blob/main/ros_ws/src/jugglebot/jugglebot/calibrate_platform_pattern_generator.py🔗 Geometry optimizer (`optimize_robot_geometry.py`):github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/experimenting/platform_calibration================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:18 - Stream Starts01:46 - Cutting Down on Slop07:53 - A Hidden Source of Error?22:53 - How Many Unknowns Do We Need to Optimize?30:00 - How to Fit ANY Model to the Collected Data?37:50 - What Data Are We Working With?45:07 - What Optimization Techniques am I Trying?59:54 - Next Steps1:08:00 - Adjusting Expectations1:12:00 - More Detail on the Recorded Data
PDJ Weekly Livestream # 46 - Mocap Update Harrison Low 2025-02-07 | I got a lot done this week! So much learning about QTM (the motion capture software) which has already been extremely helpful. We're almost ready to (FINALLY) do a robot geometry calibration - then we should be able to control the platform to *actually* go where we want!Filmed on February 7th, 2025=========== Links Specific to This Stream ===========🔗 Stewart Platform Error Identification/Compensation Paper:researchgate.net/publication/342499104_An_Error_Identification_and_Compensation_Method_of_a_6-DoF_Parallel_Kinematic_Machine🔗 Github directory with all ROS nodes (including mocap interface and the pattern generator):github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/ros_ws/src/jugglebot/jugglebot================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:25 - Stream Starts00:55 - QTM is VERY Powerful!20:12 - Now We Can Randomize (most of) the Base Markers!35:23 - Jugglebot Cover40:50 - How to Know the Platform Centroid?58:37 - First Steps to Robot Calibration!1:19:46 - Thoughts on Hand Tracking
PDJ Weekly Livestream # 45 - Mocap Update Harrison Low 2025-01-31 | This week involved a lot of small tasks, as well as some great learning about how my motion capture system works and how I might better make use of it.Filmed on January 31st, 2025=========== Links Specific to This Stream ===========🔗 Marker layout analysis code:github.com/Project-DeepBlue-Juggling/Jugglebot/blob/main/experimenting/mocap_marker_layout_analysis.py🔗 America's Got Talent Drone Show:youtube.com/watch?v=MO7cGJq-Bkw🔗 Stewart Platform Error Identification/Compensation Paper:researchgate.net/publication/342499104_An_Error_Identification_and_Compensation_Method_of_a_6-DoF_Parallel_Kinematic_Machine================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:25 - Stream Starts01:00 - Mocap Position Discrepancy04:04 - Is Jugglebot's Origin Where it Should Be??13:20 - Why Reinvent the Wheel?17:50 - So Where Should We Place the Base Markers?51:20 - Misc Updates52:00 - Ball Wall55:08 - Jetson Backup (Finally...)56:50 - Progress on Docker Container For Remote Dev Work59:40 - What is the "Best Way Forward"?1:07:05 - Some Thoughts on Jugglebot's "Primer"1:11:15 - America's Got Talent! (Does Jugglebot?)1:16:34 - Retroreflective String Ball1:18:30 - Platform Markers1:24:09 - Final Remarks / What's Next
PDJ Weekly Livestream # 44 - Squashing Some Bugs at Last! Harrison Low 2025-01-24 | This week was a frustrating one at times! But thankfully there was light at the end of the tunnel and Jugglebot has emerged stronger and more capable than ever! Not long now until we can do some partner juggling!! 😍Filmed on January 24th, 2025================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:14 - Stream Starts01:04 - I Found the Timing Bug From Last Week! (Probably...)03:55 - Linig Up The Dropper Was Too Tedious!04:41 - DC_BUS_OVERCURRENT13:23 - On Teaching How Jugglebot Works15:03 - The Platform Can Align The Hand... Right?21:25 - Didn't Need to Rotate the Mocap Data After All...24:13 - Does it Work? (Solving Errors on the Fly)29:57 - Demo Time!41:16 - Active AND Passive Catch?46:34 - Updated How ACTIVE_STATES are Handled52:58 - Improvements to the Dropper59:05 - I've Kicked Yet Another Marker...1:02:30 - How to Track the Platform?1:08:15 - Bongo Jugglebot!1:13:20 - Some Thoughts on Partner Juggling
PDJ Weekly Livestream # 43 - Can Jugglebot Catch a Tracked (Dropped) Ball? Harrison Low 2025-01-17 | This week I mostly focussed on testing my claim from last week that 50ms is too tight of a time margin to have Jugglebot reliably catch a ball. While there's still a bit of work to be done to fully explore this hypothesis, we've now got a fairly solid foundation to run further tests.Filmed on January 17th, 2025=========== Links Specific to This Stream =========== 🔗 Mocap Tracker M6/M4 Adapter CADcad.onshape.com/documents/46519e30ba3464f50ee198ad/w/8bea4249c868b64096360866/e/7f708e304205a0a3a2626751?configuration=List_ZtjMyvFsc6N3kN%3DCNCing&renderMode=0&leftPanel=false&uiState=6789ac5e3b2c4a11735d533d================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:23 - Stream Starts03:40 - Time to Get Some Metal Bits09:50 - Hand ODrive Needed a Reset12:50 - Is 50ms Too Tight of a Window?30:08 - Demo Time!53:03 - Potential Fix for Bisecting Ball Problem
PDJ Weekly Livestream # 42 - Lots of Updates for the First Stream of the Year! Harrison Low 2025-01-10 | Since our last stream, I've continued along a few different streams of Jugglebot development and I'm excited to share this progress with you all!Filmed on January 10th, 2025================= Links specific to this stream ================= 🔗 PlotJuggler:github.com/facontidavide/PlotJuggler🔗 Hand Testing Rig CAD:cad.onshape.com/documents/92a89d6974af0aec44310b7d/w/0fe19a792950f356f9f83e94/e/3652964510f81ce172c983e7?renderMode=0&uiState=6780910704756a11b35e449c================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:25 - Stream Starts01:15 - Black Marker Caps Stop My Cats 😼02:45 - Why Won't That Leg Work??08:30 - Jugglebot Can Catch From Me!23:35 - Improved Boot Sequence26:03 - Finally Logging Each ROS2 Session34:56 - Updating the Hand Control50:50 - Making the Hand Comply1:23:35 - (Mis)Adventures With My Testing Rig1:31:25 - Closing Remarks
PDJ Weekly Livestream # 41 - Motion Capture Update Harrison Low 2024-12-13 | This last week has been a little slower than usual; I've had a few other things going on and have been fiddling with the motion capture software (QTM) to get a better feel for how it works.That said, we've now got some decent ball tracking that's capable of handling multiple balls at once and (minor) occlusions, with fairly accurate predictions of where the ball(s) will land! This is a big step towards Jugglebot being able to 'partner juggle' with me. Very keen! 😁Filmed on December 13th, 2024================= Links specific to this stream ================= 🔗 All ROS2 modules and classes can be found here:github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/ros_ws/src/jugglebot/jugglebot🔗 All tracking data that I mention at around 46:30:github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/Mocap%20Data/For%20Livestream%2041🔗 From Scratch's video on the robot foosball table:youtu.be/xrwXZXGiP1w================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:10 - Stream Starts00:45 - Calibration Tools are Safe and Sound01:50 - Qualisys Site Visit10:40 - Ball Tracking is Working Well!31:25 - Can This Be Done Differently?34:10 - Can Normal Cameras Track The Balls?40:00 - Calling All ROS2 Developers!43:32 - Last Stream of the Year!46:35 - Tracking Data Will Be on Github (Soon)48:15 - Can We Change How We're Tracking the Balls?
PDJ Weekly Livestream # 40 - Ive been wanting this for YEARS! Harrison Low 2024-12-06 | FINALLY! We have motion capture! This is something I've been dreaming of owning since the very beginning of this project, so you can imagine that I'm very excited to finally have it set up!There's a TON to get through in this stream, so buckle up!Filmed on December 6th, 2024================= Links specific to this stream ================= 🔗 Qualisys Track Manager (QTM) Docs:docs.qualisys.com/qtm-rt-protocol🔗 Miqus Camera Specs (I have four M3 cameras):qualisys.com/cameras/miqus/#!#tech-specs🔗 rctestflight Propellor Competition (video 2 of 4):youtube.com/watch?v=KeTh-TIhL9M🔗 Hand Testing Rig CAD:cad.onshape.com/documents/92a89d6974af0aec44310b7d/w/0fe19a792950f356f9f83e94/e/3652964510f81ce172c983e7================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:21 - Stream Starts02:15 - Motion Capture is Here!03:37 - How Does Motion Capture Work?25:33 - My Plan for Mocap37:40 - Mocap Demo!54:33 - What's Next Here?1:02:00 - Updated Motor States1:12:25 - Hand Competition!
PDJ Weekly Livestream # 39 - Motion Control Update (and others) Harrison Low 2024-11-15 | It's been a very interesting week, and I'm excited to share the progress with you all. I finally feel that I have a (relatively) clear idea of where to go from here, which is a fantastic feeling!Note that there will be no stream next week, and likely not one the week after.Filmed on November 15th, 2024================= Links specific to this stream ================= 🔗 Mark Mueller's Paper on Motion Primitives for Quadcopter Trajectory Generation:https://sci-hub.se/10.1109/TRO.2015.2479878🔗 Ball intersecting with workspace simulation:github.com/Project-DeepBlue-Juggling/Jugglebot/tree/main/simulations/ball_flight_path_intersecting_workspace================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:15 - Stream Starts01:05 - ROS2 Remains...03:05 - New Hardware Helped a Lot!11:23 - Question on High-Speed Camera + Lights15:07 - New CAN Connector Mount18:08 - E-Stop is Working Again!22:45 - We Need to Be Careful When Jugglebot is Active...37:00 - Motion Control is Starting to Make Sense!56:00 - No Stream Next Two Weeks (probably...)
PDJ Weekly Livestream # 38 - Hardware Upgrades (Finally...) Harrison Low 2024-11-08 | Quite a few things have happened since the last stream! We've finally got movement again, and some very significant upgrades have been made to Jugglebot's hardware.Filmed on November 8th, 2024================= Links specific to this stream ================= 🔗 Some info on using glass beads for retroreflection:cospheric.com/retroreflective_particles_spheres.htm🔗 ROX Automation:docs.roxautomation.com/blog/2023/12/13/why-asyncio-is-ideal-for-robotics-development🔗 Ruckig:github.com/pantor/ruckig================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:28 - Stream Starts01:49 - The Bearings are IN12:00 - ACTIVE State is Better Now14:14 - Deutsch Connector Boots15:45 - Retroreflective Balls Update22:35 - Roll-Our-Own Motion Planner?25:49 - Hand Testing Rig?34:23 - Is ROS2 Right for Jugglebot?39:25 - Final Thoughts
PDJ Weekly Livestream # 37 - State Machine Updates and a Few Little Things Harrison Low 2024-11-01 | Quite a few things have happened since the last stream! We've finally got movement again, and some very significant upgrades have been made to Jugglebot's hardware.Filmed on November 1st, 2024================= Links specific to this stream ================= 🔗 Teensy docs:pjrc.com/store/teensy40.html🔗 Homing ODrive parameter discussion on Zulip:pdj.zulipchat.com/#narrow/channel/399312-The-Brain/topic/ROS2.20Integration/near/479606963🔗 YASMIN error handling commit:github.com/Project-DeepBlue-Juggling/Jugglebot/commit/a32ca22f3300c540f7b4631e3a3656a6a951005c🔗 YASMIN state machine library:github.com/uleroboticsgroup/yasmin🔗 Ruckig:github.com/pantor/ruckig🔗 Ball wrapping Onshape document:cad.onshape.com/documents/3029d4c1a63f88fca249f7ec/w/79afc3da21a70974f2a7ec77/e/ba89f4915229f99c9985f74e================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:33 - Stream Starts01:16 - Teensy and ODrives are Now in Sync08:00 - Encoder Search is More Reliable11:11 - Error Handling has Improved Dramatically20:49 - Demo!37:57 - Ruckig Returns?50:16 - Thoughts on Juggling Approach55:55 - CAN Cable Connector is Fixed!1:07:03 - New Balls Arrived!1:15:55 - Jugglebot Needs Periodic Recalibration1:17:30 - Missing ROS Messages 🤔1:20:40 - First CF Nylon Parts1:26:11 - Final Remarks
PDJ Weekly Livestream # 36 - Mocap and State Machine Updates Harrison Low 2024-10-18 | I've finally made up my mind on the motion capture system and have placed the order! Now we need to get the code up to scratch before it arrives...I've made quite a few changes to the state machine in the last week, including: giving Jugglebot a memory, improving the heartbeat reception, and hugely improving error handling (though this isn't done yet...)Filmed on October 18th, 2024================= Links specific to this stream ================= 🔗 Motion Capture Camera (Miqus M3):qualisys.com/cameras/miqus/#🔗 YASMIN (State machine library):github.com/uleroboticsgroup/yasmin================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Coutdown00:24 - Stream Starts00:50 - MoCap is on its Way!07:34 - Heartbeat Registry was SLOOW18:00 - Improving `run_encoder_search`?23:09 - Jugglebot Has a Memory!27:32 - Demo Time!35:14 - Who Should Publish to /robot_state?38:27 - Addressing Comments40:35 - How to Propagate Hardware Errors to the State Machine?48:30 - How to Designate Control Authority?52:25 - Final Ramblings
PDJ Weekly Livestream # 35 - State Machine Update (Finally!) Harrison Low 2024-10-11 | I've finally bit the bullet and have turned my focus to Jugglebot's code. I've tidied the project's Github page, made some very nice changes to my Linux setup, and started work on getting Jugglebot working within a state machine. I'd say it was a very successful week!Filmed on October 11th, 2024================= Links specific to this stream ================= 🔗 Zulip message where I describe how I set up the Linux shell's to open with shared history:pdj.zulipchat.com/#narrow/stream/399279-General/topic/Jetson.20Setup/near/475162862🔗 YASMIN (State machine library):github.com/uleroboticsgroup/yasmin================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro00:06 - Stream Starts01:04 - Update on Linux Setup03:06 - Github is Cleaner Now04:38 - Unit Testing is Tricky...06:54 - Jugglebot Gets a State Machine11:30 - State Machine Demo20:27 - Brief Mocap Update21:11 - Connector Update22:40 - Closing Remarks
PDJ Weekly Livestream # 34 - Slow Mo Update + Chat with Jon Harrison Low 2024-10-04 | I'm back from a few weeks overseas and I'm very excited to share with you some things that have been cooking in the background for quite some time 😁Filmed on October 4th, 2024================= Links specific to this stream ================= 🔗 Freefly Wave slow mo camera:freeflysystems.com/wave🔗 Camera rig Onshape model:cad.onshape.com/documents/11e4800179121b0542942b3c/w/3f263110b42cfb455bbf72ec/e/c8b4b910cd12b03f28757d9d?renderMode=0&leftPanel=false&uiState=66ff236008682a02ab9c31a5🔗 Optitrack Prime 13W motion capture camera:optitrack.com/cameras/prime-13w🔗 Qualisys Miqus motion capture camera (I'd get the M1):qualisys.com/cameras/miqus/#features================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:26 - Stream Starts01:10 - Slow Motion!17:45 - The Shot I Want to Get28:24 - The Hand Motor Should be Safe Now35:00 - A Relief for the CAN Bus!38:22 - Motion Capture for Jugglebot!41:40 - What's Next?45:00 - Chat with Jon (Cable Robots)1:46:16 - A Cool New Toy
Jugglebot Works! Premiere followup Livestream Harrison Low 2024-10-04 | This stream was run just after the premiere of my latest video (PDJ #22) with the intention of covering some very cool news about meeting another person developing a juggling robot! I also give some 'behind the scenes' looks at the latest video. I hope you like it!Filmed on the 29th of August, 2024================= Links specific to this stream ================= 🔗 Some of Kai Ploeger's work:sites.google.com/view/jugglingbotsites.google.com/view/beyond-the-cascadesites.google.com/view/controlling-the-cascade🔗 James' youtube channel:youtube.com/@JDRobotics================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow====================================00:00 - SKIP THIS SECTION01:08 - Actual start02:35 - I'm not alone!!07:23 - Publishing Jugglebot Work?08:15 - Back to Kai's work (simulations)11:50 - Jugglebot won't be the first juggling robot13:53 - Let's talk about Kai's balls18:26 - Sorry for not replying on Zulip!21:00 - Chat about the latest video25:30 - High speed camera32:00 - The lost magic smoke38:00 - Final remarks
Jugglebot Works! Premiere followup Livestream Harrison Low 2024-08-29 | This stream was run just after the premiere of my latest video (PDJ #22) with the intention of covering some very cool news about meeting another person developing a juggling robot! I also give some 'behind the scenes' looks at the latest video. I hope you like it!Filmed on the 29th of August, 2024================= Links specific to this stream ================= 🔗 Some of Kai Ploeger's work:sites.google.com/view/jugglingbotsites.google.com/view/beyond-the-cascadesites.google.com/view/controlling-the-cascade🔗 James' youtube channel:youtube.com/@JDRobotics================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow====================================00:00 - SKIP THIS SECTION01:08 - Actual start02:35 - I'm not alone!!07:23 - Publishing Jugglebot Work?08:15 - Back to Kai's work (simulations)11:50 - Jugglebot won't be the first juggling robot13:53 - Let's talk about Kai's balls18:26 - Sorry for not replying on Zulip!21:00 - Chat about the latest video25:30 - High speed camera32:00 - The lost magic smoke38:00 - Final remarks
My juggling robot can finally juggle! 🤹♀️ | PDJ #22 Harrison Low 2024-08-29 | JLC3DP 3D Printing Starts at $0.3, Up to $60 New User Coupons: jlc3dp.com/?from=HarrisonLow-------------------------------------------------------------------------Phew! It was quite a push to get this video finished before leaving for holidays, but I'm so glad I did it; I think the result is great, and I hope you do too!Very keen to see what you all think.-------------------------------------------------------------------------There are a ton of links mentioned in this video, so I've tried to group them together:🔗🔗 Miscellaneous 🔗🔗💰 My Patreon:patreon.com/HarrisonLow⚡PDJ Zulip site:pdj.zulipchat.com👩💻 PDJ Github repo (note that all recent work is in /ros_ws):github.com/Project-DeepBlue-Juggling/Jugglebot/tree/develop💻 Jugglebot Onshape model:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/01230a9885db97bc19cc596d/e/bf84687f92e1fd7b5e47b388📜 Paper on Stewart Platform Geometry Errors:researchgate.net/publication/342499104_An_Error_Identification_and_Compensation_Method_of_a_6-DoF_Parallel_Kinematic_Machine🔗🔗 My videos 🔗🔗▶ Last video on the linear actuators:youtu.be/bQl6gj_6oa8▶ PDJ 5 (Options for Jugglebot's Eyes):youtu.be/ONTt7Dlseno▶ PDJ 9 (Base-mounted hand motor):youtu.be/g5o_dwZuLNE▶ PDJ 12 (No hand motor):youtu.be/h-th1lcGFq0▶ PDJ 15 (Where I moved to magnetic platform joints):youtu.be/ACidat_EQ3Q▶ Livestream update 12 (Collapses due to magnetic joints):youtube.com/live/jic-ykPe_44▶ Livestream update 18 (Capstan hand design):youtube.com/live/4U79_uN36yY▶ Livestream update 23 (Simulation improvements):youtube.com/live/zBH5Tuxx4QE🔗🔗 Other videos 🔗🔗▶ Alex Barron 14 Ball Flash (World Record):youtube.com/watch?v=WK6AlhTjUbY▶ Stuff Made Here "Moving hoop won't let you miss"youtube.com/watch?v=myO8fxhDRW0▶ "CableEndy Juggler":youtube.com/watch?v=7HNAL8ZKdyM-------------------------------------------------------------------------00:00 - Intro00:14 - What can Jugglebot do?01:00 - Robot overview01:18 - The arm03:32 - The hand06:03 - The brain08:48 - The eyes?09:19 - Jugglebot's Problems13:18 - I didn't do this alone13:44 - What's to come?
PDJ Weekly Livestream # 33 - Update | Jugglebot can Juggle!! Harrison Low 2024-08-16 | Phew! After a bit more mucking around with timing, Jugglebot can finally actually juggle!! (as in, juggling more balls than it has hands). It's not super reliable and seems very sensitive to a lot of things, but it works!Filmed on August 16th, 2024================= Links specific to this stream ================= 🔗 2 ball columns code:github.com/Project-DeepBlue-Juggling/Jugglebot/commit/cc20b76faea8c5e6adb21b117c25e50c3278b580#diff-4bbdddf956ba43766b052140f97a265fbc396c5d91b11770dbfb61b4cdda0953R598🔗 Hand trajectory generator:github.com/Project-DeepBlue-Juggling/Jugglebot/commit/774bff75e852026cc0f47fd8c38a283f8a831fb7================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:23 - Stream Starts01:00 - Two Ball Juggling!04:33 - Is This the World Record For Robotic 2 Ball Juggling??06:30 - Let's Review Some Recordings11:40 - Does the Ball Type Matter?12:54 - Back to Recordings...16:35 - Throwing Continuously19:23 - The Timing is All Wrong22:36 - The Hand is Not Throwing to the Same Height Every Time...25:26 - Why Not Start With Both Balls in the Hand?28:10 - Why is There Such A Long Settling Time?31:28 - Jugglebot's Columns are TIGHT34:00 - Another Two Ball Demo (to Collect Data)38:48 - Making the Control More Robust40:20 - What About Making the Hand Grasp the Ball?43:31 - How to Set Timing Correctly?48:40 - This is the Last Stream Until Oct 4th51:17 - Channel Banner is Looking Nice!52:00 - Closing Remarks
PDJ Weekly Livestream # 32 - Update Harrison Low 2024-08-09 | I spent most of this week working on getting Jugglebot to juggle 2 balls, and it's very close!Filmed on August 9th, 2024================= Links specific to this stream ================= 🔗 Qualisys Arcus Cameras:qualisys.com/cameras/arqus🔗 2 ball columns code:github.com/Project-DeepBlue-Juggling/Jugglebot/commit/4a7a462d76618dcdbff14368c19c967da5cdc1df#diff-4bbdddf956ba43766b052140f97a265fbc396c5d91b11770dbfb61b4cdda0953R491🔗 Hand trajectory generator:github.com/Project-DeepBlue-Juggling/Jugglebot/blob/develop/ros_ws/src/jugglebot/jugglebot/hand_trajectory_generator.py================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:50 - Stream Starts02:20 - Update on Mocap Cameras03:46 - 2 Ball Columns Testing12:23 - How Does This Work?23:35 - Timing is Off25:54 - Interlude on the Dressing Gown28:45 - How To Do the Timing Better40:32 - How To Make Loading the Second Ball Easier?44:50 - Update on Measuring the Legs46:50 - Discussion on the Launcher and Ball Butler49:40 - Can We Put a Sensor in the Hand?57:20 - One More Demo of Columns (attempt)
PDJ Weekly Livestream # 31 - Update Harrison Low 2024-08-02 | This week had a lot of thinking about next steps, as well as a few ventures into possible solutions. I'm excited to share it all with you!Filmed on August 2nd, 2024================= Links specific to this stream ================= 🔗Onshape document for the linear actuator measuring apparatus:cad.onshape.com/documents/b78696b1dd60309774515907/w/215c6eb56dbc1a2b4100f933/e/686fe2c4fc4059d12f8fad27?renderMode=0&leftPanel=false&uiState=66ac1d92531558522b91b8b6🔗 Stewart Platform kinematics error paper:researchgate.net/publication/342499104_An_Error_Identification_and_Compensation_Method_of_a_6-DoF_Parallel_Kinematic_Machine🔗 Qualisys Arcus Cameras:qualisys.com/cameras/arqus================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the main Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:40 - Stream Starts01:23 - How to Fix Orientation Issues?10:30 - Do Small Geometry Errors Even Matter?15:55 - How Precisely Can We Measure?30:03 - I Found a Big Source of Backlash!33:00 - Enlarging Jugglebot's Hand34:00 - Throwing with the Bigger Hand40:25 - What's Next?46:33 - I'm Going on Holiday at the End of August
PDJ Weekly Livestream # 30 - Update Harrison Low 2024-07-26 | This was a fun week! Getting Jugglebot to throw to an arbitrary position was interesting and is so satisfying to watch.However, I've discovered another gremlin lurking inside Jugglebot, that's making it difficult to orient Jugglebot exactly where I want it.================= Links specific to this stream ================= 🔗Angle calibration data and analysis script:github.com/Project-DeepBlue-Juggling/Jugglebot/tree/develop/ros_ws/src/jugglebot/resources🔗 Methods for throwing to arbitrary position:github.com/Project-DeepBlue-Juggling/Jugglebot/commit/4ce9af40df6062827ffa6bfd310646d1b38615a3#diff-4bbdddf956ba43766b052140f97a265fbc396c5d91b11770dbfb61b4cdda0953R533================= General Links ================= 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:50 - Stream Starts01:57 - Demo: Throwing to Arbitrary Position08:26 - How Do Arbitrary Throws Work?16:26 - Something is Amiss35:54 - Hand Upgrades??52:20 - Another Pattern for Jugglebot
PDJ Weekly Livestream # 29 - Update + Throwing!! + Chat with Jon Harrison Low 2024-07-19 | I've been making good progress with tuning the hand and 'coordinating' the hand and arm (/platform) to move together, and now we're finally ready to try "juggling" with one ball again! I have a good feeling about it this time!! 🤞🤞### Links specific to this stream ###🔗 Update to spool radius: github.com/Project-DeepBlue-Juggling/Jugglebot/commit/6ec05f2032c48efdbac0234bf55b7f74e2b7bda1#diff-4bbdddf956ba43766b052140f97a265fbc396c5d91b11770dbfb61b4cdda0953R24🔗 Re-setting `legs_target_reached` to False: github.com/Project-DeepBlue-Juggling/Jugglebot/commit/3cb59f3e5c732c128007b74b8dba5eb3f544770d#diff-518cac3d6fff83609db168c53b9874bd0b2207b215e81ad28a3b6c9bb90edaa8R227🔗 Nested folders in /resources? Location of change:github.com/Project-DeepBlue-Juggling/Jugglebot/commit/4c695170eb37cd4b34477f7ec04951b854c4e90a#diff-8ea62773593ab13d21863b7248e8633525f6f41c84dc48075e3310c718586a13R17🔗 "Trajectories" folder: github.com/Project-DeepBlue-Juggling/Jugglebot/tree/develop/ros_ws/src/jugglebot/resources🔗 Hand Telemetry data and plotter:github.com/Project-DeepBlue-Juggling/Jugglebot/tree/develop/Folders%20for%20Specific%20Videos/Update%20%2329%20-%20Hand%20Telemetry%20Data🔗 Juggling Lab:jugglinglab.org🔗 Intro to Siteswap Notation:juggle.fandom.com/wiki/Siteswap### General Links ###🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:50 - Stream Starts02:33 - Previous Catches Were Late?05:33 - Now "Flat" is *Actually* Flat07:15 - CAN Bus is Going Strong11:24 - Let's See What Jugglebot Can Do!17:46 - "Juggling" One Ball!!23:18 - What's Actually Happening Here?29:40 - ROS2 Questions33:50 - A Silly Bug37:00 - Basic Logger is Up and Running!39:12 - rqt_graph40:22 - Next Steps...47:00 - Chat with Jon (Jon's Audio is Muted for a Minute)1:08:10 - Updating Channel Banner and Final Remarks
PDJ Weekly Livestream # 28 - Update Harrison Low 2024-07-12 | The last two weeks have been extremely successful - we've finally figured out what was causing the auto-levelling to need more than one iteration to 'level' the platform, the "auto" part of the auto-levelling works, and we're finally at a point to start using Jon's trajectory generator to get the hand throwing! 😁### Links specific to this stream ###🔗 Changes to robot_geometry: github.com/Project-DeepBlue-Juggling/Jugglebot/commit/a95064e8a0b9368d41f349a761e936025809b573🔗 Zulip thread on the strange behaviour when getting the levelling to work:pdj.zulipchat.com/#narrow/stream/399312-The-Brain/topic/Auto-Levelling.20the.20Platform/near/448792960🔗 MeatPi CAN adaptertindie.com/products/meatpi/usb-to-can-adapter🔗 Trajectory transmitter node:github.com/Project-DeepBlue-Juggling/Jugglebot/commit/00a030164f85e943c7564294f8792e6984110008### General Links ###🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow---00:00 - Intro Countdown00:48 - Stream Starts01:45 - Levelling Works in One Step!06:40 - Auto-Levelling Works Too!08:19 - CAN Logger is Set Up (Mostly)14:47 - We Have Liftoff! (Demo)24:36 - How Does the Throwing Work?38:37 - Some Thoughts
PDJ Weekly Livestream # 27 - Update Harrison Low 2024-06-28 | What a week! A strange motor problem held me up for quite some time, but at least I now have a better understanding of the ODrive CAN protocol, and I was able to get a few other things done.🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow00:00 - Intro Countdown00:47 - Stream Starts01:38 - CAN IDs Gone Wrong16:43 - Auto-Levelling, Done Right28:34 - Thoughts on Feedback31:20 - The Bellows Saga Continues34:35 - Regen Clamp Box is Done!39:36 - Camera Upgrade 😁43:10 - Concluding Remarks
PDJ Weekly Livestream # 26 - Update Harrison Low 2024-06-21 | This week involved a lot of head-scratching and frustration, but after all that, Jugglebot is now able to calibrate itself to be level! This may not seem like a big step forward, but without this, it would be extremely difficult to make sure Jugglebot is throwing in the direction we want it to. Uneven ground is no longer an issue for Jugglebot 😁🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow00:00 - Intro Seqeuence00:56 - Stream Starts02:05 - No CAN Problem After All!05:00 - All Code is Updated for the New Platform10:05 - Code Needs Sleep Too!13:40 - Where are these Scripts on Github?14:38 - How to Level Jugglebot?27:10 - How to do this Automatically?36:00 - New ROS2 Network Graph39:30 - Jugglebot's Gremlins42:26 - Will There Be an Update Video Anytime Soon?46:37 - Update on the Bellows48:30 - Closing Remarks
PDJ Weekly Livestream # 25 - Working Session Harrison Low 2024-06-14 | It's time to install the new platform! Should be a fun stream 😁🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow
PDJ Weekly Livestream # 25 - Update Harrison Low 2024-06-14 | These last two weeks were filled with a lot of small sub-projects, some of which I'd been putting off for a little while. Finally, the new platform is built and ready to be installed! 🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow00:00 - Intro00:43 - Stream Starts01:20 - New Platform is Built!06:26 - Inclinometer Update15:20 - Electronics on the Platform17:05 - Not all Temp Sensors are Equal...22:25 - Another CAN Problem...25:00 - Power Dissipation Progress31:28 - Printing the Bellows (or not...)37:40 - Tracked Balls?43:00 - Jugglebot Onshape is now Much Tidier47:00 - Closing Thoughts
PDJ Weekly Livestream # 24 - Update Harrison Low 2024-05-31 | This week was a lot of CAD and familiarizing myself with Onshape. Overall I like it and I'm keen to use it more throughout this project to make collaboration with all of you much easier!Note that there won't be any stream next week 😊🔗 Here's a link to the project's Github page:github.com/Project-DeepBlue-Juggling/Jugglebot🔗 Link to the top-level Onshape Assembly:cad.onshape.com/documents/4d6545620c55797d3bb36f68/w/42ced3a9fe5d1bf7afc6efff/e/bf84687f92e1fd7b5e47b388🔗 And to the project's Zulip site:pdj.zulipchat.com🔗 If you want to help support this project, the best way to do so is through my Patreon, here:patreon.com/HarrisonLow00:00 - Intro00:56 - Stream Starts01:30 - Jugglebot is in Onshape!04:20 - Platform Design08:50 - Layout of the Model(s)11:45 - Back to Platform Design22:25 - Adding an Inclinometer29:13 - Moving Large Assemblies in Onshape 🤔31:40 - How to Manage a Large Project in Onshape?33:30 - Questions for any Onshape Experts (Especially Those Who Print Things!)38:10 - What's Next?39:40 - No Stream Next Week!
