i went from a pretty meh math student in middle/highschool to studying physics / tutoring and to be fair, if im not studying physics or tutoring at the moment i couldnt care less about trigonometry (technically, i still do :^)) but when i do, its pretty essential to have u gotta remember that the majority of people learning trig in school prob wont be using it unless their job is tech or science related
I can't believe you've broken down something I was so intimidated about into really lovely trigonometry. Treating each solved distance as a black box for later trig makes it so elegant. Thank you for teaching real skills in your videos. I really appreciate the work you do!
Yes, simple examples can be solved with trig, but if you want to get into more advanced robots with high dof's and redundancy, you'll need to rely on numerical methods and understanding of transformation matrices to solve the problem
I had to learn the maths for my EPQ project last year and I didn't entirely understand it. Now it makes sense!!! Great video and can't wait for the next one!
Hi James, have you tried using the Jacobian matrix? It makes solving inverse kinematics pretty easy. Just describe the coordinates of the end effector as a function of the joint angles once and from then on out it's a matter of simple linear algebra!
It's not _just_ a matter of linear algebra, because the forward mapping is nonlinear. Yes, you can still use the inverse Jacobian to run some Newton-Raphson steps, but this isn't exactly _easier_ than, if possible as in this example, directly computing the exact solution with trigonometry tricks. Especially when using a low-powered microcontroller, it's quite advantageous to need only one computation step.
...Though then again, it isn't really necessary to directly compute the target parameters _at all_ - instead, depending on the application it can make a lot of sense to compute only _directions_ of movement, which the Jacobian can directly offer. Then physically following the directions is essentially a mechanical way of solving the nonlinear equations.
Your skill with all facets of robotics is truly impressive- concept, 3D design and printing, assembly, math and coding, testing and refinement. So impressed!
Thanks a lot for this very informative and inspiring video James! The first thing I was thinking of when I saw the gripper was: 'Why not use suction?'. Also learned a thing or two about inverse kinematics. Maybe I'll give it a try in the future!
Your videos are clearly made to inspire. But the Components you use (especially the motors) are more of the pricey variety. I would like to see a video, where you go over your "standard components" and explain, why you chose them and not other - I guess oftentimes it's because it was what you had at hand. On the other hand, I would love even more a video where you challenge yourself to only use small 3$ nano-servos and/or 28BYJ-48 Stepper with ULN2003 driver modules --- you know, stuff that kids could afford. These have limited capabilities, but it would be nice to see what they can do in their limits when someone like you uses them.
You sir, are making the world a better place with your videos. The inverse kinematics you showed was far simpler than how I imagined it to be. I was over here trying to use MatLab to create Differential Equations and then setup a robotic simulation with moments of inertia, COM, etc. Your video ultimately brought me back to the realization that 'baby steps first' would be my best move instead of just leaping into the deep end. That said, there is nothing that teaches like a project does, and yours are always fun to watch and learn from (like when you built a camera that follows you or the backpack disc that spins to balance you on a beam walk)
@James_Bruton i love where everything is going.... i was wondering since you have incorporated NERF blaster in past projects could you consider a nerf magazine auto loader... i think this would be a very commercially viable project i have thought of different forms this could take .... 1.rolling robot that picks up nerf darts and loads magazines !! THAT WOULD BE SOMETHING AMAZING !!! 2 a bin you could just throw some darts into that would load magazines 3 a target with a collection box that loads magazines , so you can do target practice and have loaded magazines in the end .. i think #2 +#3 would be the most practical and are about the same thing thanks in advance if you consider this project and keep up the good work
Got a recommendation on youtube to watch some of your videos about robotics and I didn't know why given all my recent searches are for procedural animation. A few hours later youtube recommends this to me and now I understand. I see your tricks youtube.
I love how with channels like this even the ad portion is interesting. No crummy mobile game ad, but actually relevant and useful companies as sponsors
This might be good to have right before the wind tunnel part since that was very sensitive to how the balls enter, and this is probably gonna be the most reliable part.
@@xxportalxx. that being said, the fact that the arm can move at different speeds allows it to "throw" balls, and since the static accelerator is a gimmick anyway, it doesn't get as much speed as it should and may fail. also, it's a Coanda effect staircase. a wind tunnel is a very different thing.
@@xxportalxx. although it may be difficult to code, I think the fact it is so reliable once you get the coding down makes up for it, whereas the ball accelerator is much more mechanical based, and therefore more unreliable.
I teach High School Engineering (in the states) and seeing you break down robotics into simple Trig allows me to show the students how Geometry is applied in robotics at this basic level. I hope this will inspire some students to go into robotics.
I don't know why the arm is dropping the ball so high. The servo can take it lower, and the upper arm should be able to drop the ball softer and closer to the ground.
Im working through your code and am in the encoder area, can you tell me what sort of motor you are using is please Ive never used an encoded DC motor before. Ive sorted the servos
I have been trying to create a robot dog however when I try to move the legs it doesn't move in a straight line. Is there something I am missing that would fix this?
Oh my gosh, Thank you so much James, i've struggled to wrap my head around IK for so long on how it works, I'm doing game dev in uni but could never understood how IK actually works. I've watched videos working with unity but none of them explained this in an easy way like you have, been subscribed to your channel for a while now and was not expecting to learn something i've been wanting to learn in game dev from you. So thank you so much sir! ahaha
thank you very much this is very helpful as this is quite similar to a scara arm(here z-x and in scara x-y by 2 joints) which is my final year project.
But what when you want the robot to pick up an object on its own. Like it has a sensor and the robot senses the ball. I just find it really confusing how you would get the position of the sensed object
Brilliant! UA-cam served up your reverse kinematics demo deo up to me, which led me to this video, (right in the middle of your process), and it all made perfect sense, because you are a gifted teacher. Subscribed!
First of, thanks for the video! Code for the absolute coordinate is a bit weird. You computed the shoulderAngle2Degrees and shoulderAngle1Degrees but did not do angle arithmetic to calculate the final angle. Instead, you converted both to pwm secs and subtracted the two values in servo write which can be easily overlooked.
perhaps it would be better for visualisation for the arm to release the ball at some arbitrary location along the Z=axis to prove that the arm isn't just being programmed to drop it in a fixed location (if they didn't bother to watch this video first)
Hy James awesome video as always. But I have one question for you -> How much time required while making this project. I am asking this because for me sometimes even a very small project takes one or two weeks to complete and then I start to wonder that I am not doing anything wrong.
Thanks so much for this James. I've been watching through a bunch of your videos again while at work (I'm a D.E. teacher - coding of various kins, and robotics (using Robbo)). I had bought one of those cheap robotic arm kits from Lazada, to which I added the servos and an Arduino. At first I coded it to work sequentially, which was all I knew how to do, so arm rotation, then vertical arm movement, then the claw. It randomly selects a position by choosing numbers in the pre-defined range of movement for each servo. But, while watching this video, and others, I worked out a way to program simultaneous movement. I'm not using timing, or anything like that. It takes the current position for each servo, and the newly selected position, calculates the difference for each servo, then divides by 100. I then have a loop of 100 iterations that adjusts the position of each servo in the required direction be adding or subtracting the number and writing to the servo for each iteration of the loop. So, I have a relatively smooth transition of all three servos from current to new position. The claw is changed separately after the arm finishes moving. The servos for this arm are SG90s, so they're a bit rough a jittery, but they do the job. I've also added LEDs that light up when each part of the code is being executed and I hope to add a 2 row LCD display to show the position numbers for each servo while it is operating. The robot is mounted on the back wall of my classroom purely as a demo piece, so serves no practical functionality except the most important one - to inspire my students. Thanks again for your awesome channel! I actually feel like building a bigger arm now from scratch, perhaps using PVC piping and 3D printed joints, or metal joints, like in your example here. Hmmm!
After finally capturing reverse kinematics, the gods decided that his punishment would last for all eternity. He would have to move a ping pong ball from one place to another; upon dropping the ball, the ball would be placed back at the starting position again, leaving reverse kinematics to start over. James sees reverse kinematics as the absurd hero who lives life to the fullest, hates death, and is condemned to a meaningless task. One must imagine reverse kinematics happy.
Another excellent, excellent video! Well explained and demonstrated AND most importantly, your teaching methods are very encouraging, and give the viewers (me!) the idea that I too can attain the same results with a reasonable amount of work. Well done, or as you Brits say, "Brilliant!" Now we just have to teach you guys that there is no such noun as 'Mathematic'. :))
Hi . Thank you for detailed video . Can you help me on my project ?? So my project is that : İ make 5 dof robot arm and İ am ussing processing app and writing java code for it i can dedect my cube on java program and i can move arm only cube's direction but İ want to if program dedect cube ,robot arm grab cube and take it any other place . Note : my servo motor connected to 32 channel servo controller board (from torobot) and İ send it datas (servo postions and speed) with usb like : #1p1500#2p100T500 so #1p(rotation state from 500 to 2500)T(milli second for moving destnation place . İf it is high ,motors speed is low , else if it is low ,motors speeds is high) İ think that İ can explain my problem . İt is extremely hard for me 😢
Uh, I feel like this demo might be a bit misleading, this is the simplest robotic arm possible, so u can still use simple trig for both forwards and inverse kinematics. But if you have 6 or even 7, that will no longer work, because there are an infinite number of joint confit that lead to the same answer, and so a inverse Jacobean method would work a million times better, an it allows you to constrain some of those infinite solutions to optimize for things like speed or torque in the end effector. Also, I’m not quite sure why you used a library for the linear motor movements, that’s just simple algebra, probably even more simple than the trig you did, so it could have been another educational lesson. Also, you could have also used PID control which would’ve worked better anyways, and since u didn’t incorporate the linear interpolation as an educational portion in the video, I’m confused why u didn’t just use PID if you weren’t going to explain it anyway.
Hey, I tried this code in a game and... The arm goes really weird when I input 1 for the x and 0 for the z value... Like why? And reprogrammed in python it works.. OH I'M AN IDIOT! I FORGOT TGE ELBOW ANGLE = PI - (SHOULDERANGLE1*2) KF COURSE IF DOESN'T WORK IF IT'S PI DEGREES OFF! oh, and it divides by 0.
This is very inspiring! I've been wanting to make something similar recently and I've also been taking trigonometry in college right now, so seeing how you implemented it in inverse kinematics was awesome to see and providing the code too! I find this helpful.
I actually quite enjoyed (inverse)kinematics in college. Which is weird, since it's a lot of trygonometry and geometry (which I hate) and algebra (which I dislike).
I love how this is even used in video games for almost anything dynamically animated. The best example is VR, inverse kinematics is used to calculate where the elbow should be located based off of your shoulders and hands in-game. Thanks so much for this video! It really helps introduce me to IK which I was always scared of learning, great job breaking down the math behind it to make it sound really simple and straight forward.
Hi :) I don't really understand the concept with the 45' offset. Sorry, I am new to servos, the milliseconds PWM basically tells the motor to turn for a certain amount of time and that equals the angle that we calculated? So I understand how the shoulder angle inside the first triangle is calculated, but I do not understand how that information is converted into usable information for the servo, because for the right triangle from the shown picture I assume that the servo is a 0 degrees and if you want to move the arm forward it has to turn for a certain amount of degrees, but that angle is not the same as the "shoulder angle" from the right triangle from the starting position, is it? So I think my question is how do you convert the calculated shoulder angle to the rotation of the servo trigonometrically?
love the vid but why do you call z axis zed axis? how do you pronounce zero, zedero or zebra zedebra i dont get it and i assume your speaking in english. No offense im just confused.
it's anoying how much time, material, and energy is wasted printig pieces that didn't need printing. most of the structural parts of this build could've been made with cardboard, or at least less material. i doubt this contraption is ever going to do some real work, and so, it doesnt need to be built like a tank! i admire the problem solving in this video, and commend the build for being effective, robust, and reasonably dependable for what it is. all i want to say is please try to be more mindful of the time and material you waste in printing non critical parts that can be easily fabricated with different materials...
I need to program a lego robot in the way that starts at 100 and that its speed is reduced smoothly if I do a challenge initial acceleration plus second onchronometer less deceleration value 10 of speed I cannot make a slow decrease since the graph gives as a result a linear function. By dividing the initial sum by dividing the speed line, we achieve a deceleration limit where the robot will never slow down, since each time the digits of the denominator are larger and a quotient close to zero is obtained. worse wue never is zero the graph does not touch zero. How do I have to make the deceleration slow and smooth? How can I have a formula in a numerical nlowe to achieve that? I have to use a logarithm to get a curve as the formula gives the function of the velocity graph?
You could even make it "nod" on its way back, with the hand looking similar to a dog's head with the metal-bracket ears. All your dogs and robots seem to have "personality"
11:00 does that same library have a function to interpolate in a sigmoidal shape instead of linearly? A smoothed (sigmoidal) curve would probably look better, be more energy-efficient and expose the objects it moves to less forces
He just casually built a car manufacturing robot model. I bet you could straight up scale it, swap the materials it is made of and use it to build cars.
The interesting thing is if you model on real life - what is the mix in a human/animal between the maths of moving a limb to the right place and the feedback/touch/visual etc that its in the right place? What would you say - 50/50 or more like 60% feedback, 40% muscle position?
bro could you do one thing could you tell me that which software are using to design robot in computer and how to use it in computer that it will work f and what platform you use to code arduino
How it will move in straight line while interpolating servos with linear ramp while actual change in degrees cannot be linear when end effector moving in straight line?
This robot is missing an important feature: googly eyes.
@Cooper Cole shut it bot
@Flynn Skyler shut it bot
I agree
highschool student: trig are useless
i went from a pretty meh math student in middle/highschool to studying physics / tutoring
and to be fair,
if im not studying physics or tutoring at the moment
i couldnt care less about trigonometry (technically, i still do :^))
but when i do, its pretty essential to have
u gotta remember that the majority of people learning trig in school prob wont be using it unless their job is tech or science related
@@officer_baitlyn said so well 👑
@Officer_Baitlyn, you also forgot the vast majority of trades; trig is literally used daily for construction, without it, buildings would be wonky
To them, it is
The mechanical engineer who designed you car and electronic engineer your cellphone agree that you are the man. Satellites are useless too.
"What is my purpose?"
...
"Oh my god..."
"You drop balls."
Just need a 2nd one and they can go forever playing “your ball! No! Your ball!”
I'm your 69 th like lol
I can't believe you've broken down something I was so intimidated about into really lovely trigonometry. Treating each solved distance as a black box for later trig makes it so elegant. Thank you for teaching real skills in your videos. I really appreciate the work you do!
Yes, simple examples can be solved with trig, but if you want to get into more advanced robots with high dof's and redundancy, you'll need to rely on numerical methods and understanding of transformation matrices to solve the problem
Jurassic Park robotic arm.
Remember?
Egg? Do you breed velociraptors?
I had to learn the maths for my EPQ project last year and I didn't entirely understand it. Now it makes sense!!!
Great video and can't wait for the next one!
i posted this comment at 4:20 am
Hi James, have you tried using the Jacobian matrix? It makes solving inverse kinematics pretty easy. Just describe the coordinates of the end effector as a function of the joint angles once and from then on out it's a matter of simple linear algebra!
It's not _just_ a matter of linear algebra, because the forward mapping is nonlinear. Yes, you can still use the inverse Jacobian to run some Newton-Raphson steps, but this isn't exactly _easier_ than, if possible as in this example, directly computing the exact solution with trigonometry tricks. Especially when using a low-powered microcontroller, it's quite advantageous to need only one computation step.
...Though then again, it isn't really necessary to directly compute the target parameters _at all_ - instead, depending on the application it can make a lot of sense to compute only _directions_ of movement, which the Jacobian can directly offer. Then physically following the directions is essentially a mechanical way of solving the nonlinear equations.
hello suicidal robot from the secret santa in the background. Glad he is still physically alive!
wow, i am just learning the math behind the movements in my robotic career
すごい！シンプルな設計だがプログラムに無駄がなく制御がしっかりしていて尊敬します。
Your skill with all facets of robotics is truly impressive- concept, 3D design and printing, assembly, math and coding, testing and refinement. So impressed!
Thanks a lot for this very informative and inspiring video James! The first thing I was thinking of when I saw the gripper was: 'Why not use suction?'. Also learned a thing or two about inverse kinematics. Maybe I'll give it a try in the future!
Your videos are clearly made to inspire. But the Components you use (especially the motors) are more of the pricey variety. I would like to see a video, where you go over your "standard components" and explain, why you chose them and not other - I guess oftentimes it's because it was what you had at hand. On the other hand, I would love even more a video where you challenge yourself to only use small 3$ nano-servos and/or 28BYJ-48 Stepper with ULN2003 driver modules --- you know, stuff that kids could afford. These have limited capabilities, but it would be nice to see what they can do in their limits when someone like you uses them.
You sir, are making the world a better place with your videos. The inverse kinematics you showed was far simpler than how I imagined it to be. I was over here trying to use MatLab to create Differential Equations and then setup a robotic simulation with moments of inertia, COM, etc.
Your video ultimately brought me back to the realization that 'baby steps first' would be my best move instead of just leaping into the deep end.
That said, there is nothing that teaches like a project does, and yours are always fun to watch and learn from (like when you built a camera that follows you or the backpack disc that spins to balance you on a beam walk)
“The great ball contraption”
“The high voltage ball accelerator”
Great naming scheme Monsieur Bruton
@James_Bruton i love where everything is going....
i was wondering since you have incorporated NERF blaster in past projects
could you consider a nerf magazine auto loader... i think this would be a very commercially viable project
i have thought of different forms this could take ....
1.rolling robot that picks up nerf darts and loads magazines !! THAT WOULD BE SOMETHING AMAZING !!!
2 a bin you could just throw some darts into that would load magazines
3 a target with a collection box that loads magazines , so you can do target practice and have loaded magazines in the end ..
i think #2 +#3 would be the most practical and are about the same thing
thanks in advance if you consider this project and keep up the good work
Got a recommendation on youtube to watch some of your videos about robotics and I didn't know why given all my recent searches are for procedural animation. A few hours later youtube recommends this to me and now I understand. I see your tricks youtube.
12:09 What the robot hears:
"Standard insertion for a nonstandard specimen. Go ahead, Gordon. Slot the carrier into the analysis port."
Genius Video ! Thank you so much
I love how with channels like this even the ad portion is interesting. No crummy mobile game ad, but actually relevant and useful companies as sponsors
thanks, trying to keep them relevant if poss.
@@jamesbruton I tend to actually watch them, was interesting to see they make parts not just circuit boards. Didn't know that.
This might be good to have right before the wind tunnel part since that was very sensitive to how the balls enter, and this is probably gonna be the most reliable part.
Although didn't they need to be sorta thrown into that? So perhaps the static accelerator would be better
@@xxportalxx. that being said, the fact that the arm can move at different speeds allows it to "throw" balls, and since the static accelerator is a gimmick anyway, it doesn't get as much speed as it should and may fail. also, it's a Coanda effect staircase. a wind tunnel is a very different thing.
@@Bigwings2043 idk I think it would be difficult to have it throw a ball, but perhaps that's the solution.
@@xxportalxx. although it may be difficult to code, I think the fact it is so reliable once you get the coding down makes up for it, whereas the ball accelerator is much more mechanical based, and therefore more unreliable.
@@Bigwings2043 the ball accelerator is purely electrostatic, the only mechanical part is a belt being turned against a brush lmfao
Math, the single, most powerful language ever devised. It's multi-lingual infinitum :)
I teach High School Engineering (in the states) and seeing you break down robotics into simple Trig allows me to show the students how Geometry is applied in robotics at this basic level. I hope this will inspire some students to go into robotics.
I don't know why the arm is dropping the ball so high. The servo can take it lower, and the upper arm should be able to drop the ball softer and closer to the ground.
This is the 10th time I’ve watched this trying to understand this.
What type of v slot extrusion do you use and plz send link for the motor and v wheels, thanks!
and plz send link for skrews and bolts and nuts too
NICE love it💝
can you send me the 4 axis robot arm code? pls reply
Im working through your code and am in the encoder area, can you tell me what sort of motor you are using is please Ive never used an encoded DC motor before. Ive sorted the servos
1
I have been trying to create a robot dog however when I try to move the legs it doesn't move in a straight line. Is there something I am missing that would fix this?
cant wait for the 1m special! hope it will be soon
Oh my gosh, Thank you so much James, i've struggled to wrap my head around IK for so long on how it works, I'm doing game dev in uni but could never understood how IK actually works. I've watched videos working with unity but none of them explained this in an easy way like you have, been subscribed to your channel for a while now and was not expecting to learn something i've been wanting to learn in game dev from you. So thank you so much sir! ahaha
James, this is so super useful for me! Thank you! How much more complicated do the maths get when adding a rotation to one of the joints as well?
really good video, nicely explained. Well done
ahh yes very early
Now you just need to set up MoveIT with ros to control this thing!
thank you very much this is very helpful as this is quite similar to a scara arm(here z-x and in scara x-y by 2 joints) which is my final year project.
Hi James I'm enjoying this new series, but I think it needs some googly eyes 👀
But what when you want the robot to pick up an object on its own. Like it has a sensor and the robot senses the ball. I just find it really confusing how you would get the position of the sensed object
Brilliant! UA-cam served up your reverse kinematics demo deo up to me, which led me to this video, (right in the middle of your process), and it all made perfect sense, because you are a gifted teacher.
Subscribed!
First of, thanks for the video! Code for the absolute coordinate is a bit weird. You computed the shoulderAngle2Degrees and shoulderAngle1Degrees but did not do angle arithmetic to calculate the final angle. Instead, you converted both to pwm secs and subtracted the two values in servo write which can be easily overlooked.
perhaps it would be better for visualisation for the arm to release the ball at some arbitrary location along the Z=axis to prove that the arm isn't just being programmed to drop it in a fixed location (if they didn't bother to watch this video first)
I'm seeing something like this automatically plugging in my EV whenever I park in my garage. 🤔
where you get the wires bent?
Hy James awesome video as always. But I have one question for you -> How much time required while making this project.
I am asking this because for me sometimes even a very small project takes one or two weeks to complete and then I start to wonder that I am not doing anything wrong.
how about a robotic arm 3D printer! a 6axis robotic arm! it would be sooo much fun to do!
This is actually more interesting, then watching a video of a industrial robot, bounce a bowling ball.
Maybe the robot could detect other color balls and drop those in another location?
how do you not have more subscribers.... this is some real amazing stuff you are doing! keap up the good work
Thanks so much for this James. I've been watching through a bunch of your videos again while at work (I'm a D.E. teacher - coding of various kins, and robotics (using Robbo)). I had bought one of those cheap robotic arm kits from Lazada, to which I added the servos and an Arduino. At first I coded it to work sequentially, which was all I knew how to do, so arm rotation, then vertical arm movement, then the claw. It randomly selects a position by choosing numbers in the pre-defined range of movement for each servo. But, while watching this video, and others, I worked out a way to program simultaneous movement. I'm not using timing, or anything like that. It takes the current position for each servo, and the newly selected position, calculates the difference for each servo, then divides by 100. I then have a loop of 100 iterations that adjusts the position of each servo in the required direction be adding or subtracting the number and writing to the servo for each iteration of the loop. So, I have a relatively smooth transition of all three servos from current to new position. The claw is changed separately after the arm finishes moving. The servos for this arm are SG90s, so they're a bit rough a jittery, but they do the job. I've also added LEDs that light up when each part of the code is being executed and I hope to add a 2 row LCD display to show the position numbers for each servo while it is operating. The robot is mounted on the back wall of my classroom purely as a demo piece, so serves no practical functionality except the most important one - to inspire my students. Thanks again for your awesome channel! I actually feel like building a bigger arm now from scratch, perhaps using PVC piping and 3D printed joints, or metal joints, like in your example here. Hmmm!
After finally capturing reverse kinematics, the gods decided that his punishment would last for all eternity. He would have to move a ping pong ball from one place to another; upon dropping the ball, the ball would be placed back at the starting position again, leaving reverse kinematics to start over. James sees reverse kinematics as the absurd hero who lives life to the fullest, hates death, and is condemned to a meaningless task. One must imagine reverse kinematics happy.
So you’ve essentially built a pick and place machine. Really cool!
Another excellent, excellent video! Well explained and demonstrated AND most importantly, your teaching methods are very encouraging, and give the viewers (me!) the idea that I too can attain the same results with a reasonable amount of work. Well done, or as you Brits say, "Brilliant!" Now we just have to teach you guys that there is no such noun as 'Mathematic'. :))
Hi . Thank you for detailed video . Can you help me on my project ?? So my project is that : İ make 5 dof robot arm and İ am ussing processing app and writing java code for it i can dedect my cube on java program and i can move arm only cube's direction but İ want to if program dedect cube ,robot arm grab cube and take it any other place . Note : my servo motor connected to 32 channel servo controller board (from torobot) and İ send it datas (servo postions and speed) with usb like : #1p1500#2p100T500 so #1p(rotation state from 500 to 2500)T(milli second for moving destnation place . İf it is high ,motors speed is low , else if it is low ,motors speeds is high) İ think that İ can explain my problem . İt is extremely hard for me 😢
hey james have you seen the 3d printed linear actuator retsetman posted?, it lifts over 20kg! would be really cool to see a set tried out on project X
Robot revolution can be ALI,BABA LAMP SERVANT ,IF THE GREEDY PEOPLE GET STATIEY FROM MONEY COLLECTION
Uh, I feel like this demo might be a bit misleading, this is the simplest robotic arm possible, so u can still use simple trig for both forwards and inverse kinematics.
But if you have 6 or even 7, that will no longer work, because there are an infinite number of joint confit that lead to the same answer, and so a inverse Jacobean method would work a million times better, an it allows you to constrain some of those infinite solutions to optimize for things like speed or torque in the end effector.
Also, I’m not quite sure why you used a library for the linear motor movements, that’s just simple algebra, probably even more simple than the trig you did, so it could have been another educational lesson. Also, you could have also used PID control which would’ve worked better anyways, and since u didn’t incorporate the linear interpolation as an educational portion in the video, I’m confused why u didn’t just use PID if you weren’t going to explain it anyway.
Hey, I tried this code in a game and... The arm goes really weird when I input 1 for the x and 0 for the z value... Like why?
And reprogrammed in python it works.. OH I'M AN IDIOT! I FORGOT TGE ELBOW ANGLE = PI - (SHOULDERANGLE1*2)
KF COURSE IF DOESN'T WORK IF IT'S PI DEGREES OFF! oh, and it divides by 0.
"What is my purpose?"
You pick up ping-pong balls and drop them somewhere else.
It's simple but still interesting to watch.
This is very inspiring! I've been wanting to make something similar recently and I've also been taking trigonometry in college right now, so seeing how you implemented it in inverse kinematics was awesome to see and providing the code too! I find this helpful.
Hello sir can u make water velocity meter using ultrasonic sensor from arduino? for open channel water ways
Really like the end effector design. Pretty simple but works very well.
Inverse kinematics gota love them
I actually quite enjoyed (inverse)kinematics in college. Which is weird, since it's a lot of trygonometry and geometry (which I hate) and algebra (which I dislike).
I still wondering why you dont use a bench power supply xD. At least for this kind of projects.
I love how this is even used in video games for almost anything dynamically animated. The best example is VR, inverse kinematics is used to calculate where the elbow should be located based off of your shoulders and hands in-game.
Thanks so much for this video! It really helps introduce me to IK which I was always scared of learning, great job breaking down the math behind it to make it sound really simple and straight forward.
12:04 it's beautiful. I have looked at this for 5 hours now...
but if you have the spirit, then you can have smart things that automatically do what you have so hard worked for
diy cnc with dual real axis
robot arm drone blimp
bendy sensor
piezo sensor
you could use a ceiling double railing robot, not a moving floor robot, to do stuff
you can use mathlab ,inverse keynematics tool box to generate joint simulations.
Awesome
Hi, do you have any suggestions for a manipulater that can pickup a small , 6mm dia by 18mm tall, item? Thanks
Thank You. My Math's sucks.. So this is a very good tutorial for me as I am trying to build a Similar system to yours. .. Thanks Again.
The best example what is NOT inverse kinematics. Else your arm would already start to move forward to its drop point once ut picks up the Ball.
Thank you too much,for the basic,clear,interactive education..
Its "Math Is Fun" not "Maths Is Fun" even if it is supposed to be "maths." This is because Math Is Fun is an old US thing from the early 2000's
Hi :) I don't really understand the concept with the 45' offset. Sorry, I am new to servos, the milliseconds PWM basically tells the motor to turn for a certain amount of time and that equals the angle that we calculated? So I understand how the shoulder angle inside the first triangle is calculated, but I do not understand how that information is converted into usable information for the servo, because for the right triangle from the shown picture I assume that the servo is a 0 degrees and if you want to move the arm forward it has to turn for a certain amount of degrees, but that angle is not the same as the "shoulder angle" from the right triangle from the starting position, is it? So I think my question is how do you convert the calculated shoulder angle to the rotation of the servo trigonometrically?
love the vid but why do you call z axis zed axis? how do you pronounce zero, zedero or zebra zedebra i dont get it and i assume your speaking in english. No offense im just confused.
If I had patreon I'd build a great ball contraption with bowling balls
@JamesBruton I have some problem in solving inverse and forward kinematics of 4pr parallel manipulator .pls help
BUT what about the SLIP model usde by agility robotics?
it's anoying how much time, material, and energy is wasted printig pieces that didn't need printing. most of the structural parts of this build could've been made with cardboard, or at least less material. i doubt this contraption is ever going to do some real work, and so, it doesnt need to be built like a tank!
i admire the problem solving in this video, and commend the build for being effective, robust, and reasonably dependable for what it is. all i want to say is please try to be more mindful of the time and material you waste in printing non critical parts that can be easily fabricated with different materials...
You like gears, I wonder if you have seen this: ua-cam.com/video/xWVA6TeUKYU/v-deo.html
Haha great ball contraption...
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That's what she said
I need to program a lego robot in the way that starts at 100 and that its speed is reduced smoothly if I do a challenge initial acceleration plus second onchronometer less deceleration value 10 of speed I cannot make a slow decrease since the graph gives as a result a linear function. By dividing the initial sum by dividing the speed line, we achieve a deceleration limit where the robot will never slow down, since each time the digits of the denominator are larger and a quotient close to zero is obtained. worse wue never is zero the graph does not touch zero. How do I have to make the deceleration slow and smooth? How can I have a formula in a numerical nlowe to achieve that? I have to use a logarithm to get a curve as the formula gives the function of the velocity graph?
You could even make it "nod" on its way back, with the hand looking similar to a dog's head with the metal-bracket ears.
All your dogs and robots seem to have "personality"
complicated...
I've always wanted to build a really overengineered robotic desk lamp.
11:00 does that same library have a function to interpolate in a sigmoidal shape instead of linearly? A smoothed (sigmoidal) curve would probably look better, be more energy-efficient and expose the objects it moves to less forces
I'll NEVER need trigonometry, I said... 🤦
He just casually built a car manufacturing robot model. I bet you could straight up scale it, swap the materials it is made of and use it to build cars.
The interesting thing is if you model on real life - what is the mix in a human/animal between the maths of moving a limb to the right place and the feedback/touch/visual etc that its in the right place?
What would you say - 50/50 or more like 60% feedback, 40% muscle position?
Hanzhen harmonic drive gear , robot arm gear , over 30 years experience
bro could you do one thing could you tell me that which software are using to design robot in computer and how to use it in computer that it will work
f and what platform you use to code arduino
How it will move in straight line while interpolating servos with linear ramp while actual change in degrees cannot be linear when end effector moving in straight line?
A sideways SCARA without its third rotating axis :)
which software used for camera 3d cad design and simulation??
Anyone going to yell at him for saying cos instead of cosine? No? No one? Okay, just me.
This guy put to shame to all the groups of people who went to robot conventions and failed to make their robot walk