![]() ![]() void set_arm( uint16_t x, uint16_t y, uint16_t z, uint16_t grip_angle ) * z is height, y is distance from base center out, x is side to side. * arm positioning routine utilizing inverse kinematics */ servos.start() //Start the servo shieldĮxit(0) }//pause program - hit reset to continue VarSpeedServo servo1,servo2,servo3,servo4,servo5,servo6 ServoShield servos //ServoShield object #define GRIPPER 200 //gripper (incl.heavy duty wrist rotate mechanism) length " #define HUMERUS 100 //shoulder-to-elbow "bone" Be sure your servo speed is low the first time you run these functions to prevent damaging your arm and your own arm. Then try a simple set_arm() command and then the zero_x(), line() and circle() functions for testing. Input the servo min and max in the attach statements.Ĥ. BASE_HGT,HUMERUS,ULNA,GRIPPER lengths in millimeters.ģ. You need to modify a few parameters for your robotic arm dimentions:ġ. I don't understand all the math behind the routine but the nice thing is you don't have to to use the code. Oleg's original program, descriptions, and resources: Oleg's Inverse Kinematics for Arduino Uno Oleg's video is here: Controlling Robotic Arm with Arduino and USB Mouse Set_arm( 0, 240, 100, 0 ,20) // parameters are (x,y,z,gripper angle,servo speed)ĭelay(3000) // delay is required to allow arm time to move to this locationĬouldn't be simpler. ![]() The code works great and allows you to operate the arm by using a single function in which you pass the x,y,x and speed parameters. If you use this sensor/servo shield you need to make one minor modification that I will outline below. And I will never go back to hardwiring servos to the Arduino Uno now. ![]() It makes for a nice clean connection of the servos to the Arduino. It only costs a few bucks but it is not required. I use a simple sensor/servo shield to connect the servos to the Arduino Uno but it requires no special servo library as it just uses the Arduino's pins. For any one considering running the code provided here I recommend that you use this VarSpeedServo library,rather than the servo.h library, so that you can slow down your robotic arm movement during development or you may find that the arm will unexpectedly poke you in the face or worse because it will be moving at full servo speed.Ģ. I used the VarSpeedServo library in place of his custom servo shield library because I could then control the speed of the servos and I wouldn't have to use the servo shield he used. I made two modifications to adapt his code:ġ. Then I found Oleg Mazurov's most excellent "Robotic Arm Inverse Kinematics on Arduino" where he implemented inverse kinematics in a simple Arduino sketch. I had built a 6 servo robotic arm but when it came to finding software to run it, there wasn't much out there except for custom programs running on custom servo shields like the SSC-32(U) or other programs and apps that were complicated to install and communicate with the arm. This project is about implementing a short and relatively easy Arduino sketch to provide XYZ inverse kinematic positioning. ![]()
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