Skip to content
NRR/ROBOTICS
← Back to projects
0082026

Fairino FR5 Drag-Teach

Hand-held painter teleoperator with EMA-filtered IK.

  • Teensy 4.1
  • Bosch BNO055 IMU
  • CALT CESI-S2000 encoders
  • ServoJ
  • Lua
  • PyQt6
View on GitHub
Fairino FR5 Drag-Teach
01/ Problem

Problem

Let a human painter physically lead a Fairino FR5 cobot around in workspace coordinates while the controller follows in real time. No teach pendant, no jog wheel.

02/ Approach

Approach

Teensy 4.1 + BNO055 IMU + 3 CALT CESI-S2000 draw-wire encoders feed a 100 Hz host servo loop. ServoJ + IK with EMA filtering, delta-per-cycle clamping (2.5 mm / 10 ms), workspace-box and spherical reach gates, and DI/DO solenoid trigger control over wired Ethernet at sub-millisecond RTT. Trajectories record to TPD format for autonomous replay.

03/ Hardware

Hardware

Fairino FR5 cobot + FRC100-AC controller (firmware V3.8.7-QX). Teensy 4.1, BNO055, 3x draw-wire encoders. Wired Ethernet to host.

04/ Result

Result

Live drag-to-teach demo with replay and Lua scripting hooks. PyQt6 IO dashboards. 22 passing unit tests.