Piero Flores López — BlogTechnical notes on robotics, kinematics, metrology and automation.https://pieroscv.com/A 44.8 mm miss: one day of camera–arm calibration debugginghttps://pieroscv.com/blog/qarm-camera-calibration-debugging/https://pieroscv.com/blog/qarm-camera-calibration-debugging/How our QArm's first physical pick failed by 44.8 mm, and the fifteen-commit day that fixed corner-order ambiguity, mirror-flipped extrinsics and a too-loose settle gate.Mon, 17 Aug 2026 00:00:00 GMTA shared component broke a page nobody touchedhttps://pieroscv.com/blog/visual-regression-shared-component/https://pieroscv.com/blog/visual-regression-shared-component/The CI forensics behind commit ad76792 on this very site: a thumbnail added to ProjectCard silently restyled the home page, and full-page visual regression across 4 viewports was the only suite that noticed.Sun, 16 Aug 2026 00:00:00 GMTA* vs RRT vs PRM on one map — and the two bugs I found writing the READMEhttps://pieroscv.com/blog/lattice-planning-comparison/https://pieroscv.com/blog/lattice-planning-comparison/Comparing lattice-based A*, RRT, and PRM plus time-optimal trajectory generation for a diff-drive robot, and why documenting your own bugs beats hiding them.Sat, 15 Aug 2026 00:00:00 GMTAutomating SolidWorks drawing packages with VBA and Python over COMhttps://pieroscv.com/blog/solidworks-drawing-automation/https://pieroscv.com/blog/solidworks-drawing-automation/How the routine steps of a SolidWorks drawing — 2D views, dimensions, part data, BOM tables — became VBA and Python COM scripts that cut whole-assembly drawing packages from hours to minutes, capped with a batch converter to print-ready A3/A4 PDFs.Tue, 04 Aug 2026 00:00:00 GMTReverse-engineering a US$25,000 motor driver's CAN protocol with two Arduinoshttps://pieroscv.com/blog/argos-can-reverse-engineering/https://pieroscv.com/blog/argos-can-reverse-engineering/How I got a downhole-rated motor driver running from a standard Arduino by sniffing its CAN bus and reverse-engineering the vendor's undocumented control sequence.Mon, 03 Aug 2026 00:00:00 GMTGripper, fixtures and a digital twin: designing a fixture-driven assembly cellhttps://pieroscv.com/blog/fred-factory-station-design/https://pieroscv.com/blog/fred-factory-station-design/How a team of four designed a custom pneumatic gripper, four purpose-built fixtures and a Siemens Plant Simulation digital twin for a semi-autonomous FrED assembly station, hitting 41 units/hour and 81.45% value-added.Fri, 31 Jul 2026 00:00:00 GMTSub-micrometer IK on a 4-DOF arm: analytical solutions + Newton-Raphsonhttps://pieroscv.com/blog/qarm-fruit-sorting/https://pieroscv.com/blog/qarm-fruit-sorting/How our team's QArm fruit-sorting robot solves inverse kinematics to 0.0002 mm round-trip error, and why we refined closed-form solutions numerically.Mon, 27 Jul 2026 00:00:00 GMT