are you human? - computer vision - motion control - mechanical design - machining - programming - i assume also at least some application of maths (perhaps linear algebra) 4 months for all that? you're something. and how do you finance your projects? that's a lot of tools for just hobby... and seems like the space is a commercial premise. salute... i want to be you.
Yes, I'm human ;) Its a little bit more than a hobby, I'm a freelancer, mostly programming but with some custom hardware on the side. Projects like this help me to learn new things and attract new clients. But mostly, its just great fun to do.
Where did you learn all of this?! That’s so amazing!! Like seriously, if you have some tips and see this comment, please let me know!! #MechanicalEngineeringStudent
I build a 6-axis robot arm this year,but with no idea making a 6-axis controller.Till I saw this video and got the source code on your Github.That has helped me to a great extent.
Aaaand you're hired for wherever you want. Seriously, nothing says SpaceX, LockHeed Martin, Literally any car company than designing your own robot arm. This is amazing.
+Kris Temmerman I'm studying mechanical engineering, always dreamed of having a workshop like that. Would you consider creating an apprenticeship to help you out with stuff around the shop?
May I suggest that when you are sketching designs for prototyping and building, you use a composition notebook?That way you won't have loose or torn papers so you can keep track of your work.
Lol, you're like me - old school. He only did a sketch for the video. Almost all the stuff in that shop was CNC - his notebook is a thumb drive. The wire strippers and flush cuts were top of the line. What was he building? A robot arm that stacks blocks.
Wauw Kris! Je hebt echt talent! Het is erg mooi om te zien dat je vanaf helemaal niks, een professioneel uitziende robotarm designed, bouwt en daarnaast ook nog programmeert! Dan stelt mijn robotarm nog niks voor..
Awesome job! I'm trying to build one for school project and this one is awesome, my project would never be compared with yours. Let me tell you that this is the first time I comment a video in UA-cam because you deserve to be congratulated. Greetings from Mexico.
Accept my respect for your creativity. Let me ask a few questions: What is the width of the rail? What is the weight of the robot? What is the power of the largest motor?
For the amount of time and money spent on building it, I would have come to your address and stacked those blocks for 4-5 months. I would also have brought my Yamaha keyboard and played music. Great video.
This is very interesting. I've reviewed many DIY robot arm builds and this one is the most professional I've seen. Despite all the great design, engineering, materials, machining and software. The arm is not stable like a commercial robot arm, you can see a sway and shake. When reviewing thees videos want to see if the motion is rock solid. When you see a compound move (two joints moving at once) there should be no movement any were else. What is the secret to the expensive robot arms? Gearing, backlash, balance?
We are hoping to add a robotic arm to a VR room we made. Wondering if you know any good candidates to buy that are turn key? Looking for aesthetics and big (hanging from the ceiling)
the secret is rigid materials, precise servos and first of all: good, accurate design, which requires much study on mechanics like kinematics, dinamics, statics, elasticity, etc and takes years to pick up. That's it.
Man you are amazing.I want to learn from you a lot and be like you.Please can you make vedios on educating the mechanical machines which you have in your workshop,how to work on them ect.Then teach the programming skills that you have.Then the effective design process of any project.It will be very fascinating if you share your knowledge and I personally love to watch your vedios but want to get knowledge in much detail.Thanks man you are an inspiration for others.....Keep it up the great work....
Nice work, I'm really envyous about your workshop. Using stepper motors and worm gears isn't the best choice, now you have backlash and some springyness in your joints. Why no servo motors? You could use magnetic rotary sensors from ams and some nice geared dc-motors. For reducing the needed torque: Make sure, the center of mass of the second arm link is as close as possible to the ellbow joint, best is its located directly on the axis. Then add some springs to the first arm link in the shoulder joint to compensate the weight of the arm. There's a way to calculate the needed excentricity and base point for given weight and spring compliance, but I can't find a source on the web. When this is done correctly, all main joints should be free of static loads and the motors have just to accelerate the masses and regulate disturbances (eg. extra weight on the gripper). This is also done in real industrial robots, you can often see the cylinders at the shoulder that are pneumatic springs for the weight compensation.
It's not that easy to make a servo with a DC motor and a random encoder. It takes a lot of time if he has never done such thing before. Finding out the right PID constants, plotting step responses and dealing with noise in the encoders etc. is very time consuming. I think he did the right choice going for steppers. I think you're right about the other stuff you said.
The first time the gripper releases a block either the grippers are adhering to the block or they are not releasing simultaneously because the block scooted. I am assuming there is no other movement in the arm at the time. Just another detail to take care of wrapping up some very nice work on your part. Someone mentioned it may be a stepper motor kicking back?
The arm/the single parts of the arm have their center of mass somewhere in the middle. This means, that, when the arm isat rest, the motor will not. You should think about counterweights (so the CoM is at the motor axle) for more precision, but it will make the arm move slower, because of greater mass, obviously
Can it Move Linear... looks like a Point to Point movement... still awesome! I would like to build one of my own with everything like an HMI, Linear Transformations, diffrent speeds, Bases and tools you can define. I know it will take some years :P
This is an awesome build, i was curious however what is that program you're using that's displaying the robot kinematics and position on your laptop. is that something you've written or something that's available? Also did you run this entire arm off an Arduino or did you just use that for motor control then use your mac for computer vision and path planning?
Amazing project! One man show! Is there a "how to build this" guide for this project? I would be interested to consider it to give it a try. I didn't see anything related to this in your git repos. Cheers!
Great work sir..... Please tell me Your education qualifications And which software use make 3d modeling..... Which language best for this type project make in future..... Great work sir.....
I don't mean this to be rude, I'm just curious. Why is it so jittery when it comes to a stop? Like it moves smooth then it reaches it's destination and slams to a stop shaking itself. Is that just an effect of the stepper motors or just needs a decelerating script or something?
Totally found my new role model XD Seriously, I'm majoring in robotics (finishing up my general education right now) and I haven't learned how to do anything like this. Where did you learn how to do all this and how long did it take you to get to this point?
Thanks :) The hardware: not that long, most things I learned while making it. The software: hard to tell, I'm a programmer for more that 10 years, so I have some experience. which makes it easy to fill in missing gabs or find solutions for problems .
When you come up with an idea for a project, what is the first step in realizing that project? It looks like you go 1. Visualize it on paper 2. Design it in (auto-cad?) 3. Acquire the physical components 4. Assemble (base components, electronics, and software) 5. Test and Debug ... Does that sound about right?
Still not stiff enough to avoid UNWANTED inertial movements that kill precision motion, happening for example at 3:44 (and on) when braking or starting a movement [accelerating / desaccelerating]. As always, backlash gearboxes and/or feeble assembled aluminum framing and are guilty (causes) of that. That's why KUKA and ABB robot frames are made of cast iron, and use complex Nabtesco mega expensive gearboxes. However, according to cost, this is still a decent specimen for prototyping.
I doubt the frame gave in with such a small scale, but yes the gears need to be airtight, along with shafts and bearings that have no possible give. And there is a great deal in adaptive programming, a stepper motor can approximate moving 90° but higher the load and less accurately it can do that. So you need to make the programming work out the load on a particular motor at all the angles and then compensate with soft deceleration to match expected backlash.
are you human?
- computer vision
- motion control
- mechanical design
- machining
- programming
- i assume also at least some application of maths (perhaps linear algebra)
4 months for all that? you're something.
and how do you finance your projects? that's a lot of tools for just hobby... and seems like the space is a commercial premise.
salute... i want to be you.
and you can draw too...
Yes, I'm human ;)
Its a little bit more than a hobby, I'm a freelancer, mostly programming but with some custom hardware on the side. Projects like this help me to learn new things and attract new clients. But mostly, its just great fun to do.
Where did you learn all of this?! That’s so amazing!! Like seriously, if you have some tips and see this comment, please let me know!!
#MechanicalEngineeringStudent
he's not human ,for real !! i'm soo amazed
he is iron man......this guys is not of this world
I build a 6-axis robot arm this year,but with no idea making a 6-axis controller.Till I saw this video and got the source code on your Github.That has helped me to a great extent.
Dawn Chang where are you? We can contact by QQ:30088903,thanks
Can you help me with cad files and source code
This should’ve been like a 27 part series. That way I’d have an understanding of all the stuff I don’t know. Bravo dude!
What you did in 2014 is still amazing! Which itself is amazing!
I'm probably too late, but can we get a tutorial for this or the learning resources?
Aaaand you're hired for wherever you want.
Seriously, nothing says SpaceX, LockHeed Martin, Literally any car company than designing your own robot arm.
This is amazing.
Excellent Person. Excellent Engineer. Excellent Father. CONGRATULATIONS !!!
My god, you have a lot of free time and budget to develop this, great work!
24h per day !
too many fans need to knows how to be Kris Temmerman
I`m very excited to have the sources to learn that stuff u do
I enjoyed watching this. Thank you! I wished it showed the whole process and not only in 5 mins.
Amazing. That work shop would be everything I could need for prototyping and beyond..Dream shop. Great job too, skills needed to go with those tools.
The art of engineering ! :)
When are you going to build the Iron Man suit?
Amazing how prisons look like these days!
What??
@@fezz6701 the guy in the video is wearing an orange jump suit, people in prisons wear those.
You made the whole thing that a company of 500 people doing to archive, congratulation!!!!
That was impressive! One man band!
nice job Kris Temmerman
My God man you make me cry every time I see the stuff you make, it's so cool, so genius.
great work!... nice and clear... Ps: and i wish had an workshop like yours
oh My God... you have your own lab, its really really great. 3D printer, CNC milling, drilling machine, lathe machine...
Muhammad Ari Wibowo Thx! I'm a lucky guy :)
+Kris Temmerman I'm studying mechanical engineering, always dreamed of having a workshop like that. Would you consider creating an apprenticeship to help you out with stuff around the shop?
That's aaaaawesome dude it moves amazingly soft and gentile !!! Awesome dude!! Damn I'll be a macatronical engineer!!!
Excellent.... This is another level. 👍
Good, thanks Kris
May I suggest that when you are sketching designs for prototyping and building, you use a composition notebook?That way you won't have loose or torn papers so you can keep track of your work.
Lol, you're like me - old school. He only did a sketch for the video. Almost all the stuff in that shop was CNC - his notebook is a thumb drive. The wire strippers and flush cuts were top of the line. What was he building? A robot arm that stacks blocks.
C'est des personnes comme lui qui ont fait ce pays !
Wauw Kris! Je hebt echt talent! Het is erg mooi om te zien dat je vanaf helemaal niks, een professioneel uitziende robotarm designed, bouwt en daarnaast ook nog programmeert! Dan stelt mijn robotarm nog niks voor..
Well, that is a nice robotic arm!
Awesome job! I'm trying to build one for school project and this one is awesome, my project would never be compared with yours. Let me tell you that this is the first time I comment a video in UA-cam because you deserve to be congratulated.
Greetings from Mexico.
Armour Mendia Thanks! :) You have to start somewhere, I'm also still learning stuff. Good luck with your project!
Accept my respect for your creativity.
Let me ask a few questions:
What is the width of the rail?
What is the weight of the robot?
What is the power of the largest motor?
If all of this work is really done by you, then you deserve more than 10 million subscribers!
Kris, you are genius!
For the amount of time and money spent on building it, I would have come to your address and stacked those blocks for 4-5 months. I would also have brought my Yamaha keyboard and played music.
Great video.
This is very interesting. I've reviewed many DIY robot arm builds and this one is the most professional I've seen. Despite all the great design, engineering, materials, machining and software. The arm is not stable like a commercial robot arm, you can see a sway and shake. When reviewing thees videos want to see if the motion is rock solid. When you see a compound move (two joints moving at once) there should be no movement any were else. What is the secret to the expensive robot arms? Gearing, backlash, balance?
We are hoping to add a robotic arm to a VR room we made. Wondering if you know any good candidates to buy that are turn key? Looking for aesthetics and big (hanging from the ceiling)
the secret is rigid materials, precise servos and first of all: good, accurate design, which requires much study on mechanics like kinematics, dinamics, statics, elasticity, etc and takes years to pick up. That's it.
Man you are amazing.I want to learn from you a lot and be like you.Please can you make vedios on educating the mechanical machines which you have in your workshop,how to work on them ect.Then teach the programming skills that you have.Then the effective design process of any project.It will be very fascinating if you share your knowledge and I personally love to watch your vedios but want to get knowledge in much detail.Thanks man you are an inspiration for others.....Keep it up the great work....
Nice work, I'm really envyous about your workshop.
Using stepper motors and worm gears isn't the best choice, now you have backlash and some springyness in your joints. Why no servo motors? You could use magnetic rotary sensors from ams and some nice geared dc-motors.
For reducing the needed torque:
Make sure, the center of mass of the second arm link is as close as possible to the ellbow joint, best is its located directly on the axis. Then add some springs to the first arm link in the shoulder joint to compensate the weight of the arm. There's a way to calculate the needed excentricity and base point for given weight and spring compliance, but I can't find a source on the web.
When this is done correctly, all main joints should be free of static loads and the motors have just to accelerate the masses and regulate disturbances (eg. extra weight on the gripper). This is also done in real industrial robots, you can often see the cylinders at the shoulder that are pneumatic springs for the weight compensation.
It's not that easy to make a servo with a DC motor and a random encoder. It takes a lot of time if he has never done such thing before. Finding out the right PID constants, plotting step responses and dealing with noise in the encoders etc. is very time consuming. I think he did the right choice going for steppers. I think you're right about the other stuff you said.
There are servos in the market with the magnetic encoder like the parent coment guy talked about. And they are much better
Outstanding build !!!
Puree, wat een project...
Amazing work. I am guessing the 3 dislikes were mis-clicks. Dunno how anyone could not like that!
Nice work. Well done.
Realy nice project
*Belle démonstration, c'est vraiment du bon travail, à bientôt*
The first time the gripper releases a block either the grippers are adhering to the block or they are not releasing simultaneously because the block scooted. I am assuming there is no other movement in the arm at the time. Just another detail to take care of wrapping up some very nice work on your part. Someone mentioned it may be a stepper motor kicking back?
Oh it's real cute stacking those blocks, just give it a year or two and it will be stacking our severed heads!
great work !
mechanics, electronics, programming... all by yourself ?!
how long took it to build this?
tnx! it took me +- 4 months
plz said how you're doing camera-to-machine control, I need it
@@shantosutradhar1365 google computer vision, object detection
@@le-0ne More explanation please.
The arm/the single parts of the arm have their center of mass somewhere in the middle. This means, that, when the arm isat rest, the motor will not. You should think about counterweights (so the CoM is at the motor axle) for more precision, but it will make the arm move slower, because of greater mass, obviously
Dear respected sir, I am really very happy for your awesome robot.
Brilliant. keep making such type of videos
awesome axis
If I were a boss, I would hire you do all things done
Very cool and impressive!
How in the world?! That's amazing! I wish I had the skills to do that
Can you please let me know how long did it take you to build it up completely from the scratch???
Please
Can it Move Linear... looks like a Point to Point movement... still awesome!
I would like to build one of my own with everything like an HMI, Linear Transformations, diffrent speeds, Bases and tools you can define. I know it will take some years :P
What a beautiful video! You have many skills
very amazing video!
You sir, are a god among men.
Wow this is really AWESOME!!!!
looks cool! good job.
two questions:
why don't you cut the zip-ties flush?
why don't you have a space after "=" in the code?
one answer: I'm lazy
incredible work my friend, I may be in touch soon.
Amazing project!!
This is an awesome build, i was curious however what is that program you're using that's displaying the robot kinematics and position on your laptop. is that something you've written or something that's available? Also did you run this entire arm off an Arduino or did you just use that for motor control then use your mac for computer vision and path planning?
Nice mornings work - what did you do after lunch?
Very cool! I really liked this video and your channel. I'll wait for the new video.
you're definitely an inspiration!
Good work thanks sir
Beatiful machine and love chopin :)
Amazing project! One man show! Is there a "how to build this" guide for this project? I would be interested to consider it to give it a try. I didn't see anything related to this in your git repos. Cheers!
Hi man, that's excellent. Did you embed the kinematics calculations into Arduino or did you write it on C++ and send locations via serial port?
What program is used to programming the movement of the robot ? In the video it schematically in 3D sets the next step of the robot
Владимир А I am also interested in the 3d robot environment.
Nice work!
Great work sir.....
Please tell me
Your education qualifications
And which software use make 3d modeling.....
Which language best for this type project make in future.....
Great work sir.....
Oh I love this video! It's such an elegant masterpiece!
I don't mean this to be rude, I'm just curious. Why is it so jittery when it comes to a stop? Like it moves smooth then it reaches it's destination and slams to a stop shaking itself. Is that just an effect of the stepper motors or just needs a decelerating script or something?
Great Job!
Complimenti!!!
Totally found my new role model XD
Seriously, I'm majoring in robotics (finishing up my general education right now) and I haven't learned how to do anything like this. Where did you learn how to do all this and how long did it take you to get to this point?
Thanks :) The hardware: not that long, most things I learned while making it. The software: hard to tell, I'm a programmer for more that 10 years, so I have some experience. which makes it easy to fill in missing gabs or find solutions for problems .
When you come up with an idea for a project, what is the first step in realizing that project? It looks like you go 1. Visualize it on paper 2. Design it in (auto-cad?) 3. Acquire the physical components 4. Assemble (base components, electronics, and software) 5. Test and Debug ... Does that sound about right?
Yes, something like that. but its more a back and forth between the stages. It was all experimental for me, so I made a lot of changes along the way.
Absolutely amazing!
Awesome talent
Incredible. Bravo.
What programs did you use to make this? Also, awesome video! I hope your channel will grow well and a happy new year!
Incredible, my respect!!!
What software package did you use to simulate your robotic arm?
หุ่นยนต์ไม่มีอะำรยากดอกแบบว่าเห็นโปรแกรมเคลือนไหวในเกมส์ออนไลน์ต่างๆป่ะเอาโปรแกรมเคลื่อนไหวในเกมส์ออนไลน์ต่างๆมาใส่หนนุ่นยนต์ต่างๆเท่านั้นละไม่มีอะไรมากดอกป่ะโธ่.. จุดศูนย์ถ่วงทุกอย่างเพลาเคลื่อนไหวให้นึกถึงน้ำที่อยู่ในที่วัดระดับน้ำต่างๆเพลาเคลื่อนไหวต่างๆททำอย่างไร่ถึงทำให้ระดับน้ำต่างๆในหนุ่นยนต์นั้นถึงสมดุลย์แบบว่าใช้จุดศูนย์ถ่วงที่เท้าสะโพกหัวและหัวไหล่ ถ้าคิดไม่ออกไแนักดูตุ๊กตาล้มลุกสร้างตุ๊กตาล้มลุกให้มีจุดศูนย์ถ่วงแบบจุดต่างๆกูบอกเข้าใจหรือป่าวพวกไอ้กากพวกที่โหล่โหลยโถ่ยบอกตรงๆ๕๕๕
fuck ! you're genius man ,so creative and great skills
Wow, they allow shooting UA-cam videos in the prison machine shop? Very progressive, Bravo!
Is everything done by a single person ? 😱😱😱
Beautiful!
nice work and very nice workshop :)
now thats what I call a workshop !!!!!!!!!!!!!!!!!!!!!!!!!
Excelente trabajo. ¡Arte en movimiento!
I'm working on a digital triplet of a 6DOF arm. The inverse kinematics are giving me trouble😭
But I know I'll get it💪
Still not stiff enough to avoid UNWANTED inertial movements that kill precision motion, happening for example at 3:44 (and on) when braking or starting a movement [accelerating / desaccelerating]. As always, backlash gearboxes and/or feeble assembled aluminum framing and are guilty (causes) of that. That's why KUKA and ABB robot frames are made of cast iron, and use complex Nabtesco mega expensive gearboxes. However, according to cost, this is still a decent specimen for prototyping.
I doubt the frame gave in with such a small scale, but yes the gears need to be airtight, along with shafts and bearings that have no possible give.
And there is a great deal in adaptive programming, a stepper motor can approximate moving 90° but higher the load and less accurately it can do that. So you need to make the programming work out the load on a particular motor at all the angles and then compensate with soft deceleration to match expected backlash.
Amazing project
Hey, Kris. It's an astonishing of what you've done. What is all the software that you used for developing and simulation?
Found your channel today! It's been what I've searching for ;)
You are my hero.
This is the 1st time I see a home robot on a rail
How mush does it cost please
Anyone van answer
It will be suitable for phone videos
Thank you
P:))
what can I say .? just amazing
Mindblowing!
So talented
Hei man, nice job ! Why not do an open-source robot arm that you can 3d print ? This is what I would like to do in the following months. Cheers, Mihai