Then I had to buy the electronics: Most of the parts were standard, the hard part was to choose the servos. I had to build it a few times, each one of them I found something wrong, and we had to recut some pieces and retry. Since I didn’t want to copy and paste the project from someone else, I took a project as reference and I (and a couple of more skilled classmates who really saved me) started to modify it according to our needs (different servos with different torque, weight and dimensions, etc.). * is 0 to 180 degrees.First I needed a structure: This was definitely the longest part. * The actual servo range for the physical motor * -90 to 90 degrees, with 0 degrees being the center position. * The angle range for Servo 1 on the kinematic diagram is * diagram for Servo 1 is actually 90 degrees on the actual servo. It assumes that the 0 degree position on the kinematic * This method converts the desired angle for Servo 1 into a control angle Myservo.write(calc_servo_1_angle(-90), desired_speed, true) Wait one second to let servos get into position Myservo.write(calc_servo_1_angle(90), desired_speed, true) Alter these numbers until both servos have a setting min and max values in microseconds attach(pin, min, max ) - Attaches to a pin Attach servos to digital pins on the Arduino Note that Servo 0 = Joint 1 and Servo 1 = Joint 2. The most clockwise position to the most counterclockwise position. Lay out all the parts out on the table like this:ĭescription: This program sweeps two servos (i.e. Actuonix L16 Linear Actuator 100mm 150:1 6V RC Control (available on eBay).6 Channel Digital Servo Tester (available at or eBay).1 x 9V Battery (to plug into the Arduino board).1 x 9V Battery Clip with 2.1 x 5.5 mm Male DC Power Plug.1 x DC Variable Power Supply (or 4 AA Batteries with 4xAA Battery Holder with On Off Switch… see this post for the link).1 x Male-to-Female, Female-to-Female, and Male-to-Male Jumper Wires Kit.2 x Solderless Breadboards (400 Point… you can put two boards together to make an 800 Point Breadboard).1 x Pack of Aluminum 25T Servo Horn Arms Discs.4 x Beam Mounts ( here or here if that link doesn’t work…also known as “One-frame bracket”, or “Linear bracket”).10 x 1cm Grid Write N Wipe Boards (check eBay….also search Amazon for ‘Centimeter Grid Dry Erase Board’).1 x DIY Aluminium 6 DOF Mechanical Robotic Arm Kit (check eBay as well).This section is the complete list of components you will need for this project. You have the Arduino IDE (Integrated Development Environment) installed on either your PC (Windows, MacOS, or Linux) or within a Virtual Box.Inverse kinematics asks, what should the angles of the servo motors be if we want the end effector to be located at a particular point in space? In a future tutorial, we’ll also learn about inverse kinematics. gripper, hand, vacuum suction cup, etc.) located in space given that we know the angles of the servo motors? The opposite of forward kinematics is inverse kinematics. This project will be used in my future tutorials on forward kinematics and inverse kinematics.įorward kinematics asks the question: Where is the end effector of a robot (e.g. We want to be able to send commands to the robotic arm so that the servos move to specific angles within this range. The motors we’ll use in this project have a range from 0 to 180 degrees. You can find lots of videos on the Internet showing SCARA robots in action. They are some of the fastest and cheapest robots for pick and place tasks (picking up an object in one location and placing it in another). SCARA robots are popular in small-scale manufacturing and logistics applications. A SCARA robot packaging cookies into trays.
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