Contact person: Business Client

Phone:Show

Email:Show

Location: Ho Chi Minh City, Vietnam

Budget: Recommended by industry experts

Time to start: As soon as possible

Project description:
"Do not reply with AI, but write a short description about you previous robot and PVT experience.
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We are a poor startup building a 4-DOF SCARA robotic arm. One axis controls the vertical motion (Z-axis), and the other three form the horizontal planar arm. All motors are driven through CAN-Bus using PVT control (Position, Velocity, Time interpolation).

The foundation is already there. The SDK, CAN communication, GUI, and kinematics were developed by a previous freelancer. Your job is to take it from “almost working” to “actually working.” The robot must move continuously while accepting new commands in real time. No pauses between motions, no blocking loops, no excuses. It needs to execute queued PVT trajectories and still respond immediately to incoming requests from the main controller.

Required Skills
- Deep understanding of CAN-Bus communication. You must know how 29-bit extended frames, message timing, and node coordination work. If your experience is limited to “sending a CAN message,” this is not the project for you.
- Deep understanding of robotics. You need to understand forward and inverse kinematics, motion planning, PVT interpolation, and motion control logic.
- Deep understanding of Python. You should be comfortable with threading, OOP, and timing-critical code. Real-time coordination between GUI, communication, and motion threads must be handled properly.
- Understanding of parallel processing systems. Experience with ROS, ROS2, ZMQ, or multiprocessing frameworks is important. You should know how to build systems that communicate and move simultaneously.
- Experience in simple GUI design for testing. You should be able to make a reliable, minimal Tkinter or PyQt interface to visualize motion, command queues, and system status.

Current System:
Platform: Raspberry Pi 4 (Ubuntu 64-bit)
Language: Python 3.10+
Motors: ICL (integrated closed loop) Stepper (4000 steps/rev)
Driver: UIM342AB (SimpleCAN 3.0)
Communication: CAN-Bus (29-bit extended ID)
Control: PVT interpolation
GUI: Tkinter
Optional Visualization: Matplotlib or Unity

Tasks:
1. Implement continuous and parallel PVT execution. The robot must execute one motion after another without stopping. It should automatically queue new motion commands while running.
2. Fix CAN-Bus synchronization and timing. Maintain stable multi-axis interpolation at a fixed dt_ms. Handle message delay, retries, and recovery.
3. Integrate communication with the main controller. The robot should receive commands over CAN-Bus while in motion.
4. Improve the GUI for operator testing. Add live position display, progress tracking, and motion queue monitoring. Functional is enough; no need for fancy graphics.
5. Document work and provide clear handover for future development.
6. Control question: How many k in Knickknack? Start your reply with the answer.

Nice to Have:
Experience with real hardware such as servo or stepper control over CAN, EtherCAT, or RS-485.
Experience with motion visualization (Matplotlib, Unity, or web).
Experience in CNC or motion control projects.
If you understand robotics and real-time systems, this project will be enjoyable. If you don’t, it will break you." (client-provided description)