Internship
Trio Motion Technology
Internship
I started my internship at Trio Motion Technology in May 2023 for 12 weeks.
During my time at Trio I helped with wiring, setup and commissioning of SCARA and 6 axis robots, MATLAB based algorithm development for new motion commands, and the forward and inverse kinematics for a hexapod robot.
Trio Motion Technology
Trio Motion Technology was founded in 1987 as a manufacturer of motion controllers. Today the range, branded Motion Coordinators,can control up to 128 axes of servo, stepper and piezo motors as well as hydraulic systems. Trio’s expertise of motion programming is based within its’ Motion-iX technology. Launch of the new servo drive and motor package now develops Trio’s offering into a motion solution in addition to providing motion controllers for automation vendors and system integrators.
The company headquarters is based in Tewkesbury, Gloucestershire, which also comprises its primary research and development hub. Additional R&D facilities are located in Italy, Bulgaria,and China. Application development teams are located in the UK, USA, Italy, India and China, and a global sales network comprises over 100 partners.
Week 1
When I first joined, my initial week was dedicated to training. I was equipped with a training rig, comprising a Trio Motion Controller and two stepper motors. The training resources included PowerPoint slides and videos, all designed to familiarize me with the Trio motion controllers, the TRIO BASIC programming language, and the Motion Perfect software.
Throughout this period, I developed several programs to manage various movements on the training rig, deepening my understanding of both the motion controllers and the associated software.
Week 2
During my second week, I delved into training on Trio’s Robot Platform System. I mastered the art of jogging the joints, crafting diverse motion sets, and visualizing the end effector’s movements within a 3D space.
Week 3-6
Week 3: I delved into creating a Trochoid pattern. After intensive research and numerous trial-and-error attempts, I managed to perfect the design by the end of the week.
Week 4: I tackled the challenge of a figure-8 pattern. It posed its own set of difficulties, but I persisted and successfully created a working model, delivering the desired results.
Week 5: This week was devoted to refining and optimizing the patterns from the previous weeks. My aim was to consolidate them into a singular function. A challenge arose when I was instructed to eliminate matrix multiplication. This required me to devise new equations for plotting the patterns in a 3D space.
Week 6: After refining the patterns further, I incorporated them into a new function. Subsequently, I explored the various features of the Motion Perfect software suite, focusing particularly on the RPS (Robot Platform Software). During this exploration, I identified some glitches in the platform. Upon notifying Sahil, a senior software engineer at TRIO, he promptly addressed and resolved the issues.
Week 7-8
Week 7:
– My initial assignment for the week was to reproduce specific software bugs. Admittedly, this proved challenging for me, as I encountered multiple setbacks. However, I persevered and was able to report the identified problems successfully.
– Later, I received a seemingly mundane task of copying data from source files to a Word document. Instead of manually transferring the data, I leveraged my Python skills to automate the process. With a simple script, I streamlined the task to a single-click operation.
– My next challenge was to focus on Bezier Curves and design an algorithm that could seamlessly stitch them together. To my satisfaction, the algorithm I developed worked impeccably.
Week 8:
– My week began with the challenge of creating a MATLAB GUI to visualize the working envelope of a SCARA Robot. I successfully developed the GUI as required.
– Following that, I transitioned to hands-on work with the SCARA Robots situated in the Robotics Lab.
Week 8-9
Having previously spent considerable time on re-wiring the controllers and drives, I also undertook the task of re-assembling the SCARA Robots.
In my ninth week, my dedication to the SCARA Robots bore fruit as I successfully brought them back to operational status, making them available for all to use. Midway through the week, after getting the robots up and running, I embarked on a new challenge: constructing a 3D environment for the robots within the RPS. I’m proud to note that I completed this assignment within the week.
Week 10-12
Week 9:
After being assigned the task of working on the kinematics of a Stewart Platform, I successfully developed an algorithm for its inverse kinematics. Upon testing this algorithm using Open Frames, it encountered errors due to optimization issues. I dedicated the remainder of the week to refining and optimizing the algorithm for smoother functionality.
Week 10:
By the start of the tenth week, I had made significant progress on the Inverse Kinematics, getting it to run seamlessly on Open Frames. Interestingly, while working on this platform, I identified a bug. After promptly reporting it, the issue was quickly resolved. The next phase was working on forward kinematics, but this posed some challenges. Sahil, being aware of my struggles, redirected my focus. He assigned me the intriguing task of developing an OpenAI-based chatbot capable of generating TRIO Basic code.
Week 11:
Monday: I commenced the week deeply immersed in the chatbot project, dedicating most of my time to research.
Tuesday & Wednesday: My days were occupied with firmware development training alongside other software engineers. This training proved invaluable, expanding my knowledge in the domain.
Thursday & Friday: I reverted my attention back to the chatbot, exploring and experimenting with different tools to enhance its capabilities.
The Fun Bit
Beyond the rigorous technical work and challenges, Trio boasts a vibrant and enjoyable work atmosphere. Adding to the excitement, we embarked on a thrilling gliding adventure in Cotswold, a truly memorable experience. The fun didn’t stop there; our camaraderie extended to an evening of food, games, and a spirited darting competition. Such experiences have not only made work enjoyable but also strengthened the bond among colleagues.
