Inverse Kinematics - 2R Planar Arm
I wanted to wait until I had all the code and help files available but weekend honey-dos and my pesky 9-5 are keep getting in the way.
This is a 2R Planar robotic arm. The motors are Dynamixel AX-12s. The controller is a Prop Demo Board running my DynaBus 1 Mbps half-duplex serial driver. I wrote the DynaBus driver a couple of years ago. The IK software is written in C#. The IK cruncher is a service that takes two points and a accuracy value then calculates angular position of the motors needed to write the line. The solutions are passed back to the client as a collection. This type of arm has two solutions for any x,y coordinate. So, the client filters the solution set, converts the angular positions to Dynamixel commands and passes the command to the Prop. The Prop forwards the instructions to the Dynamixel bus.
http://www.youtube.com/watch?v=07AI2uXGZ-k
Post Edited (Mike G) : 1/24/2010 11:17:09 PM GMT
This is a 2R Planar robotic arm. The motors are Dynamixel AX-12s. The controller is a Prop Demo Board running my DynaBus 1 Mbps half-duplex serial driver. I wrote the DynaBus driver a couple of years ago. The IK software is written in C#. The IK cruncher is a service that takes two points and a accuracy value then calculates angular position of the motors needed to write the line. The solutions are passed back to the client as a collection. This type of arm has two solutions for any x,y coordinate. So, the client filters the solution set, converts the angular positions to Dynamixel commands and passes the command to the Prop. The Prop forwards the instructions to the Dynamixel bus.
http://www.youtube.com/watch?v=07AI2uXGZ-k
Post Edited (Mike G) : 1/24/2010 11:17:09 PM GMT
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·"If you build it, they will come."
www.youtube.com/watch?v=07AI2uXGZ-k