Inverse kinematics arduino drivers#
Once the input angles are found, that information runs on the direct kinematics program and the desired position is reached with an error of less than a centimeter due to the servos and the belts. The brain of this SCARA robot is an Arduino UNO board which is paired with a CNC shield and four A4988 stepper drivers for controlling the stepper motors. It also exists and elbow UP configuration, but for the purpose of the program that was written, it was only used the elbow DOWN configuration.
Inverse kinematics arduino serial#
Inverse Kinematics example Where: θ1 and θ2 are the input angles of the two DoF serial mechanism robot and X1 and X2 are the position in the plane of the tool in the final arm. Inverse kinematics: The joint angles are calculated considering a given end effector pose. After a geometrical analysis, two solutions have been found for this particular mechanism. The robot we have built is a serial mechanism with two degrees of freedom.
Given the mechanism, the amount of possible solutions for a desired position may be an infinite number. The inverse kinematics problem consists on finding the necessary inputs for the robot to reach a point on its workspace. The algorithm for drawing can be reduced in the pseudocode: assign value to x1, y1 assign value to x2, y2 calculate difference between x1 and x2 calculate difference between y1 and y2 calculate points through which the down will pass (triangle, square, circle) (geometry is used with these two points) if (botondibujar = true) complete sequence in the case of recording, the variables sent to the servomotor are saved in an array of 60 units, which by pressing the 'record' button allow us to save the data obtained with any mode (Manual, Forward, Inverse, Trajectories) and then be replicated when you press the start button with a simple change of variable. Thanks to the flexibility of Processing, we can interact with the interface with commands known by Windows and other operating systems, which allows assigning the position of the cursor (mouse) to a variable within the program, which through the connection to Arduino commands the servomotors what angles to drive in what sequence. Depending on the selection, a variable is changed which then functions as a 'case' argument for a select type programmed later in the sequence. You can choose between Line, Triangle, Square and Ellipse. The way in which the code works for the trajectories is the following: After selecting this mode, you must select a shape to draw.
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