Arduino / Teensy 6 DOF / Axis Robotic Arm Inverse Kinematics - Update
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- Опубліковано 15 жов 2016
- Here is an update on my Arduino / Teensy 3.2 inverse kinematics project.
The 6 DOF robotic arms servos are controlled by the Teensys PWM pins. The display shows the current and target angles. It also displays the robots current pose.
I created a simple instruction language to control the robot from a computer over serial. The commands are in the format:
Q R0 10 R 1 25 R3 5
Q - queue in command
R0 10 - rotate joint 0 to 10 degree
Q M00 V10 R0 10
Q - queue in command
M00 - set movement method to P2P (M01 - linear ...)
V10 - set angle velocity to 10deg/sec
R0 10 - rotate joint 0 to 10 degree
I also mounted the robot to a concrete base, because it kept moving around when at high speed :D
You can find the Robot controller here on GitHub: github.com/glumb/mrc
Den Roboterarm kann man in unserem Shop kaufen: micropede.de/shop/mp-robot-kit - Наука та технологія
The kinematic chain that composes the actuating sistem is impressive!
Hi friend, Awesome project, i want to know, how did the weights of the servomotors affected the IK , did you make some adjustments due to those weights? Because i want to build a bigger arm with bigger motors thats the reason i want to know what type of adjustments should i make. Thanks in advance, keep it up!
Cool video about the robotic arm robot, Amazing video.
did you use any external power supply, if yes can you please explain how you determined the voltage needed to power all your servos?
ho to eleminate the servo jitter with capacitors ? explain please,, with schematics if available, thanks
I bought one of these robotic arms I didn't receive it yet but does it come with assembly instructions? How do you add compactors to the servos to smooth the action?
EXCELLENT Video !!!
coolest and highest quality robot arms I've ever seen, just wish the parts were cheaper
Could you, please, add a PIO configuration for Arduino Uno or Mega. Teensy is not available here and I was unable to compile the MRC for AVR MCU.
Sorry for bumping this up, but does your code include the game controller interface? Thank you
Hello friend, great work! I have a very similar robot arm kit however, it came with no included assembly instructions and I have reached out to the company but to no avail. Would it be possible for you to post a build tutorial if you recorded yourself doing so but if not would you be willing to send me the build instructions? Thanks!
This is my dream project bro.
Looks great! Do you have a list of the hardware you used? I see the servo below.
What is the servo
Nice video! what's the current draw btw? Can you also tell me what kind of power supply did you use? Thanks.
+Taewoon Kim it’s about max 1A per servo. Only when starting to rotate though. I am using a 6V6A switching power supply
Awesome! You should sell them again! What does KJH stand for?
Hi, it seems to me that to preserve the angle between the two longest rods (the one with the 'KJH' and the next one which is oval) when you rotate the 'KJH rod', the motor which moves the lever parallel to the 'KJH rod' (the one at the lower left side) has to move too. Am I right? In other words, if you move just the motor which rotates the 'KJH rod' (the one at the lower right side) and all other motors are still, then the angle between the 'KJH rod' and the oval rod will change - and if you want to preserve the angle between the 'KJH rod' and the oval rod when rotating the 'KJH rod' then you have to rotate both lower side motors at the same time by the same angle meaning the lower left motor must follow the lower right motor. That is, the angle between the 'KJH rod' and the oval rod is changed by the *relative* rotation of the lower left motor with respect to the lower right motor.
💯 correct 🙂
awesome! just curious, why is there shaking with the robot? is that due to the stepper motors having some play in them?
cool video
theconsumer 1 thanks! :) I first thought it was due to noise in the control signal or the weak power supply. Actually, it turned out that one broken servo was causing high peaks in the power consumption.
The shaking is gone now. The movement is still not super smooth, since the servos have a deadband of 5us. I am going to switch to hall sensor based servos soon.
Which method did you use to solve the inverse kinematics? Position and orientation decoupled? Did you use the DH convention?
I used an algebraic approach for the wrist and geometric to solve the remaining angles. I did not use DH convention, but that may be a good idea to follow a standard. The IK works for all kinds of robots (see my other video: ua-cam.com/video/tSry9HfZKh8/v-deo.html). I watched your videos, looks like you also work on 6 DOF IK. We could join forces :D. I plan to open source my version soon, after I did some cleanup.
I'd love to see your source code, currently I'm doing all the calculations on the arduino but it cannot use doubles so I have some work left to do.
I just published a JavaScript version of the kinematics: github.com/glumb/kinematics
C++ is basically the same logic. Ill add a link when I finished the project.
Hey Thomas, I am trying to implement similar 6 dof IK, Had a couple of questions where I am stuck.. Can we discuss? My email id is aakash@ucsc.edu! Thanks :D My current progress can be seen at: www.aakasht.com/Robotics/driver.html
Hey Maximilian, Great stuff! I am trying to implement similar 6 dof IK, Had a couple of
questions where I am stuck.. Can we discuss? My email id is
aakash@ucsc.edu! Thanks :D My current progress can be seen at:
www.aakasht.com/Robotics/driver.html
wo bekommt man eine Bauanleitung für diesen Roboterarm? Hab die Blechteile auch aus China bekommen aber ohne Bauanleitung...
Hey great job! I have started working on my own robotic arm recently. I know how to program the servos and have everything set up, however I have never done anything as "fancy" as this! I usually hot glue stuff and it's not pretty. Do you have a video or any tips on how I can learn how to make a metal body like yours? I really would like to step up the materials and methods I use to be more professional than just hot glue but I'm not sure where to get the materials.
+Seth F thank you! Actually, we have a small online shop where we sell the robots micropede.de .The metal body is laser cut and m3 screws are used to fasten the parts. You could design the parts and ask a local lasercutting company to cut the pieces for you.
Thanks!
Neat stuff. I'm new to Arduino. Just getting started. I'm really wanting to take on building this exact arm and I have no ideal where to begin. I have my IDE, a Arduino compatable MEGA 2560 R3, but, I haven't started coding That's something Ive still got to get my head wrapped around first and I'm getting ready to order the arm ket. . Could I trouble you for a parts list? Just a simple list of all of the hardware you used to build it and maybe some pointers. Things to avoid and such. And are you planning to make your Sketch for this project available?
Hey, the robot controllers source code is available on GitHub github.com/glumb/mrc
Due to the speed in which your moving the servos, the decrease in current problem is correct. However, using some capacitors will be a waste of time. Get two super capacitors for the whole system. Use one for the controller on the 5V side like a 5.5v 1.0 Farad, increase your servo supply to either 6V - 7.2 V and use a super cap on the power supply side for the servos. The other option is to get a 6v 7.2 AH lead acid battery. Its about $15 and can be charged it with an auto battery charger. This will be a better solution.
A super cap can be made by using two or more capacitors but have some calculations to the design due to current surging. The lead acid battery is a better solution. You can also use lil-poly or lithium polymer battery configurations but a special trickle charging unit is required and a fire proof charging bag is needed.
Hope my two cents help
Satobatsu Kaiba thanks for your help. I Switched to a more powerful power supply with 1A per Servo. Still the capacitors seem to be useful to smoth the high starting current.
Nice! How did you make the metal parts?
Hey, I did not make the metals parts myself. They were laser cut in a factory.
what do you call those stand off like long hexagonal female bolts that are keeping the arm plates at right distances
Angelica. :o)
This soo cool!
what type of servo do u use?
what are parts in the rotatory joints other than bearings...i mean what did you use to lock bearing in place
Those are flange bearings.
cool bit of dancing will you be putting a spindle on it and is it the atmega you used many thanks wes
Wesley Cains I’m using a teensy microkontroller. Unfortunately the robot is not rigid/stiff enough for handling a spindle
Amazing :)
cool, but how many kg he can use?
Hi Maximilian. Do you think you can get at least 0.2mm of repeatability in the movements
Hi, unfortunately there is no way to get sub mm precision out of Hobby servo based robots. The slack in the servos gearbox combined with a 30cm lever is about 1-2 mm. Event with halleffect servos it’s not likely.
nice sound track
Sir, can I used the acrylic robotic arm project instead of that robotic arm project that you just made?. Sir, can I used the inverse kinematics s' coding that you just provide me, can I apply the code that you have just given to me and can I use that programming code that you have just given to me in the new acrylic robotic arm? Can the new acrylic robotic arm works, when I upload the given code you just provide, can the new acrylic robotic arm works or not? Please reply to my questions. Thank you, sir.
What programs do you use to compile and control the robot?
Moises Araya I am using PlatformIO to compile the code and transfer it to the Teensy. Controlling is done via GCode like instructions
Could you make a video showing how to use the libraries correctly for the robot to work?
Hi friend, very good job, I want to do this but with step motors. I need to learn inverse knematic equations. How can I find out this equations to find the location of the endpoint.
You find a GitHub Repo with the IK in the video description
tank you so much . how can i make this arm more accurate ? change servos or put stepper instead . what type of motor to make bedt accurate ?
You could use better servos with lower deadband. Steppers are event better but would require position feedback.
+Maximilian Beck please can suggest me motor model i want to use this arm to drawing . pleae can you give me error rate 2 mm or more ?
+Sami Alfarra look for KST MS series
Great stuff, please tell me few things. What kind of servos are those, and are those aluminium sheets 2mm thick?
The bigger ones are just regular MG996R the smaller ones are SG91R. Actually, it's metal, 1.4mm.
Impressive, I never thought those servos could handle the weight. So, what kind of voltage regulator did you use? I believe they're working on 6V and probably consuming at least 1A per servo. I can't rly see, but did you use some servo shield for 12 bit resolution?
I apologize if being rude with those straight forward questions, but those are crucial info that I need for my project.
P.S Your arm design is on spot, I like how you made counterweight with that servo.
4VPme Correct, I am using a 6V 6A power supply. I switched to a teensy 3.2 for controlling the servos directly using the PWM pins. 12bit resolution is not really necessary, since the servos deadband is about 5us or 0.9 degree. I bought some hall effect servos for better accuracy but did not have the time to install them.
Thanks, but I did not design the mechanics of this arm, I am working on the controller.
May I ask what project you are working on? 🤖
Sure, I'm on this project where I, basically, have to build a robot arm from the scratch, including all, modeling, building and programming so...yeah, it will be challenging.
Anyhow, thank you for info you provided me with, I'm sure it will prove helpful. :)
+4VPme Nice, sounds like a very interesting project! I wish you much success :)
Fantastic.....it would be great integrate with a GUI programming to control the arm moviments. Congratulations, its just fantastic.
Thanks 😊 I actually built a GUI github.com/glumb/robot-gui the file RemoteRobot.js can be used to interface with the robot. In addition I also built an RoboDK Plugin to control the robot.
Hello,@@MaximilianBeck
Thank you for sharing your code. Are values in default configuration in repo the same as for the robot in the video?
@@aszmajdzinski Hi Adam, Its now over 7 years, so I'm not 100% sure, but this was the type of robot I programmed the controller for. So I assume they should match.
Hi, what type of power supply did you use ? Voltage and Current value ?
6V6A. Rule of thumb is 1A per servo. But less may be sufficient, too. Depending on the load and how many are moving at the same time.
thx for info. I am using 4 996r servos , 2 995 servos. I will use two adapter first is 6v3.6a second is 6v 1a
what type of power supply did you use? I got 6v but only 2A.
I have the kid for this arm, but can't find any assembly instructions. Any suggestions?
micropede.de/products/mp-robot-kit/files/mp-r-ab-montageanleitung.pdf
Hi, I just wanted to ask how you did your arduino script so that the servos do not jump/jerk to a default position when first time it is attached or turned on. It's just so annoying when, I send the command attached to my servos on arduino, my servos jumps violently to a default angle. Thanks.
You can 'writeMicroseconds' before you call attach. Besides that they always move to the frequency you set them to. I made a small gist that pulses the servo with different us values until it reaches the target. Its a bit jerky but moves slower than fullspeed: gist.github.com/glumb/c427c628690991ddc4b2be0c0b23a138
Thank you very much, I'll try it out.
did it work for you? I'm wanting to try this also.
It does not work for me, even when I do a write command to servos before attaching them, they will still jump to a default position. The work around I did , is to have my robot arm position conveniently at a default position, normally at a no. 7 sort of shape/position, before I initialize the bot so the jerky movement is eliminated since all servos is at its initial/default positions already.
yea, I've been doing that also.
😍
Have you used Arduino to control the display?
Yes, I used the Adafruit GFX library.
nice
will you provide the caluculations of invese kinematics
See video description
nyc one bro
+ARVIND SWAMI Thanks m8 :D
for what this jerky movements?
Background music name?
Hello! First of all congratulations for this work, it's so good!
Would you give me permission to use some shots of this video in a video in which I'm working on? I've looked for something similar on 'Storyblocks' but I can't find footage like this. Thank you in advance =)
Hi, what kind of video are you working on?
@@MaximilianBeck it's a teaser (1minute maximum) which intends to promote an activity my faculty (Faculty of Engeneering of University of Porto) is going to do with high school students next month. So basically I need to find footage of robotic arms and a DIY arduino Line Follower Car. I've seen other videos of yours and you actually have even better footage for this purpose. So if you could provide me any of it, it would mean a lot.
@@leonorconego8940 sure, feel free to use footage from my videos for this purpose 🙂
@@MaximilianBeck HUGE thank you!
And I wish you success! I can see long hours of work and effort in each video
Hi brother , this is dinesh student of ROBOTIC AND AUTOMATION department from INDIA
Could you share me the code used in this arm, I just ask this to you because of the fast acceleration of arm and this would help me in completing the project
very fantastic...!!!! specia;;ythe screen...
Luv it
Sir how to selected the motors? How did you found the torque require ?
tushar chaudhari i just calculated F*distance (F weight of the robot itself + desired load, distance maximum robot reach)
Didn’t you considered effect of inertia?
Not for this model robot
Ok thank you sir
Benutzt dieser Roboter DH Parameter oder Matrizen für das berechnen der FK/IK?
Der Robotercontroller ist open source, siehe Videobeschreibung. Keiner meiner IKs nutzt die DH Konvention.
IK mittels geometrischem Ansatz, Hand via Vektorrechnung.
@@MaximilianBeck Was bräuchte man zusätzlich noch wenn man dein Kit kaufen würde?
@@michaelringer5644 Leider haben wir die Sparte Hobbyrobotik eingestellt und werden die Produkte nicht wieder einlagern.
@@MaximilianBeck Schade war wirklich gut dokumentiert auf der Seite.
@@MaximilianBeck Wüsstest du welcher von diesen hier am nähesten an deinen heran kommt, oder besser ist?
Roboter 1
www.ebay.de/itm/6DOF-Metal-Mechanical-Robotic-Arm-Frame-Kit-for-Robot-Smart-Car-Arduino-SCM-DIY/252779108847?hash=item3adacf19ef:g:vskAAOSw4CFYqqZu
Roboter 2:
www.ebay.de/itm/New-6-Axis-Robot-Arm-6DOF-Robotic-Arm-Industrial-Mechanical-Arm-Only-xs90-SZ/153325641742?hash=item23b2eba00e:g:hAIAAOSw~2VcLHLF
Where can finde arduino code, which i can upload in arduino apps?
Daumantas Kriaučiūnas See video description
@@MaximilianBeck And how upload code? maybe can help? Thanks!
mother board at 1cm to tuch alumi,nium on table Boom!
😍😍😍
Name of servo motors please.
Amrev Ali MG996R
I'm glad that you could pull it off with such a budget servo motor. Well done!
Now I can trust on buying this model as well ^_^. Thanks!
maximilian, can you sell plan for this arm or sell this arm?
Actually, we sell the robot arm at micropede.de 🤖 😀
Maximilian Beck price? can you do this for cnc router?
+alex shmidt it is not possible to use this robot for CNC. It is not rigid and accurate enough.
where i can find instruction for assembly this?
micropede.de/shop/mp-robot-kit#downloads
@@MaximilianBeck do you know on how to control torque on servo motor? Or important parameter to control servo motor torque?
Nurul Aqilah Herman the current running through a motors coils determine the magnetic field and thus torque it produces. Stepper motors are usually rated for max current. Servos however are mostly rated for voltage and thus current is determined by its internal resistance. So use more voltage to get more torque. Still considering the limits.
@@MaximilianBeck Tqq!!
@@MaximilianBeck : So... gradually increase the voltage until smoke alarm sounds, then decrease it a little? ;o)
Can this used on arduino uno
mohamed abdulakrim no, too little flash memory
please tell me what's the lengths of your links
ِAhmed Eslam about 200mm
Are you mean, each of the two links is 20 mm??
ِAhmed Eslam no, each link is about 200mm
Many thanks my dear
Will you share kinematic solutions ? :)
You can find the kinematics in JavaScript on GitHub: github.com/glumb/kinematics
I will publish the C++ code soon. the logic is the same :)
I'm having someone make me one of those to use for myself
You can send drawings
Bang bikin robot pinto otomatis pake sensor gerak
hey i need its 3d CAD model. Can you provide the link plz?
mention your email address and I will talk to this guy...
Bro please share the code i will study it.
Yo m8, please look in the description. You will find a link to GitHub :)
What is the payload of the arm?
~ 200 - 300g
@@MaximilianBeck Can you send me its cad model for 3D print?
Ashar Haroon the arm is laser cut from Metal. I don’t think you can print it unfortunately.
@@MaximilianBeck I can laser cut it. If I only had the cad files of the part. I can CNC it
Ashar Haroon micropede.de/link/mp-robot-a-cad i made some cad for visualisation only. Maybe you can use this as starting point. Pw micropede
So that's like going to be the skeletal electro dyno mechanism to a small scale dinosaur for it to jerk and lunge for them half-eaten Mc Donalds cheese burgers dropped on the ground to swallow whole?
hoooo man... i have a great project that we can work on...
What are you building?
Maximilian Beck something that the net never saw yet...
my biggest problem is figuring out how to build the shoulder.
But for now I'm finishing my exams, and in a few week I will contact you again.
It's a character for my UA-cam channel (not with this account) that will for sure buzz, I would like to show you the project after, and if you like it we can do it together.
To get an approximate idea of it , google "claptrap robot" and "glados robot" then mix the 2 of them
And tell me if you already have a good feeling for this :)
damn music epidemic
Hanzhen harmonic gear , over 30 years experience ,,robot gear reducer
If this robot is controlled by software, not remote control, then stay away from it, it is dangerous.