6 DOF Robotic Arm Using Arduino Uno for XYZ Positioning (Source code available)
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- Опубліковано 8 вер 2024
- I used an Arduino Uno and Oleg Mazurov's excellent little inverse kinematic sketch for XYZ positioning. An explaination of his program is here: www.circuitsat... (Unfortunately this site is no longer has his code and it is unanavailable so if you cannot decipher my code then you are out of luck. He had nice spreadsheets that calculated and graphed the position of the arm. Too bad. I miss it too. Wish I had downloaded it when I had the chance.)
I adapted his program to use the standard Arduino servo commands as he used a custom servo shield. I also used Michael Margolis's excellent VarSpeedServo library so that I could pass a speed parameter to the servo write statement as developing a program with full servo speed is a recipe for disaster.
Here are more details with my source code: www.instructab...
Looks like it's having fun on its own
thanks for linking to the code. thats actually quite simple. well done!
Thanks. Yes Mazurov's code is great, and simple. I especially liked the spreadsheet that demoed the algorithm - helped me to understand whats going on and debug a problem.
Helloo! Do u still have the code for this? thanks
@@daffacaesario9391 look at Chris Annin AR3 robot. There are improvements that could be made but it's very good for opensource.
@@MakeTechPtyLtd alright i will check it, thank you!
This code helped me a lot thanks.
Great! Too bad the original code from Matzurov is not available anymore. I don't even know how it works now. He had some great spreadsheets and explainations that are now gone missing. If you have it working, you are the expert now.
a very great project
You have tutorial modif
I don't know about programming. can you please give me a simple code to work my robotic arm or can you please give a insight to the code that you have used. Would be really really helpful brother
Hi Sarfaraz. You can try something like this: www.ez-robot.com/EZ-Builder/ though I have not used it. THere are other applications around too. But to use my programs, you must know something about Arduino coding, there are no shortcuts. Just work your way up from blinking an LED in Arduino to moving servos and check out other peoples projects on Instructables.com
That is about all I can suggest. I don't have the patience or experience to teach anyone personally and I have always felt if something is worth doing - you need to do some homework and teach yourself - don't rely on a teacher - you are just learning their biases. Good luck with your self-education and projects.
Wow, that's a very great project!
Have you got a circuit diagram to know how to connect all the wires to the arduino and to the sensor shield please?
Thanks
*the first link doesn't work anymore, might you please fix it?
I don't even have this arm anymore but you can tell which pins I used from the source code in the link in the description. Also you need to go to Mazurov's link to see how to orient the servos - if you don't orient the servos in the same way as he did, the code will not work.
Hello Jimmy, can you help me with the designing of the model in creo?
Sorry, I can't recall how this program works anymore and the original program that I sourced from is gone from the internet. I am an old man that has to pick and choose how to spend the rest of my time. Hope you can figure it out.
Hello sir!, I made this one but i don't have enought material for WRIST. So my robot just has 4 DOF with GRIP. Could i use your code and the value os ULNA = 0. Thanks!
So sorry I missed your comment. Yes, I think you are right.
can you send me complete power supply details
I just used this power supply: item.taobao.com/item.htm?spm=a230r.1.14.105.22db14ebgJ7Qvq&id=546585665326&ns=1&abbucket=12#detail The 5 volt leads go to power the servo shield, and the middle lead goes to the Arduino Uno ground. The servo shield I use has the 5 volt pin bent out so that it does not connect with the Arduino Uno. This allows use of a higher than 5 volt power supply if you want but you cannot use higher than 7 volts or you will burn up your servos. If you use 5 volts then you do not have to bend the 5v pin of the servo shield out of the way.
Hi,
Thanks a lot, its really greate effort and great knowledge.
i need to do a project for a preset position linear actuator with a DC motor abd a stepper motor, with Arduino Mega or UNO but i am not able to write the code and the scheme, can you please help.
Regards
Sorry Kifah, no longer have this project or arm and frankly I can no longer understand my own code. Without a robot I could not get it working again. There must be better code out there these days. Maybe this project can help you out: create.arduino.cc/projecthub/MisterBotBreak/how-to-make-a-robotic-arm-783525
@@demej00 thanks for your kindness 🙏 and May God bless you and be with you
mechanism from the 19th century))))))))
Hello, what kind of batteries did you use and their voltage and amphere?
Hi. I use a 6 volt, 10 amp power supply through a servo shield that provides the 6 volts to the servos. But my servo shield required me to bend the 5 volt pin on the shiled away from the Arduino or it would burn out the Arduino. 5 volts should work too but I like the higher voltage as it gives the servos more torque.
Thank you sir
Very welcome! Good luck with your project!
is it too soon to ask it to do the dishes?
No, it refuses to do the dishes.
Great project ! Can you share the dimensions of the robotic arm?
Sorry I cannot right now as am in the process of moving and have packed the arm up. Will do later but may be a month or so.
#include expect "FILENAME" whay
So sorry so late. Yes, the #include gets cut out of the code because I didn't embed code properly.
good afternoon I have trouble compiling was written the same in the arduino at the time of compilation not found servo_park () ...
servo_park() is just a function in the code. Need to see the error message to help you.
the error code is as follows 'servo_park' was not declared in this scope
also the library "ServoShield" does not install it in arduino seems to expire which replacement?
You should not be using ServoShield at all.
Did you install the VarSpeedServo library into your Arduino IDE? You download the zipfile from the github site that I listed in my instructable.com site. Download the zip file, go into your Arduino IDE and the Sketch drop down menu and then the Include Library drop down menu item and then the Add .ZIP Library - find the zip file and the IDE will install it for you. You have to do this successfully or you cannot go any further. If for some reason the IDE will not install it then you must unzip the file yourself and put the files in: Arduino/Libraries/VarSpeedServo directory.
To test if it will compile then just make a blank sketch that includes "#include VarSpeedServo.h" and compile it. If you can't do this then I cannot tell you what your problem is and you will have to look around on the web for a solution to your error code. You have to get this far to go any further.
Jimmy Demello
You install the VarSpeddServo library bad continuan and error the servo_park()
What is used for controlling the arm's movements ?
Arduino Uno and my version of Oleg Mazurov's code.
Jimmy Demello yes Arduino microcontroller is used in this robot . But what is used for controlling ? Is it controlled by App ?
Not. an app. It is an Arduino sketch written by Oleg Mazrov. Check out his link in the description.
Thank you so much for reply. Can i use ps2 controller to control this?
Here is an instructable to do that: www.instructables.com/id/How-to-control-servo-with-play-station-2-controlle/
can ur arm be straight? see the roof ? my motor doesn t lift ?
the shoulder servo should have at least 15kg lifting capability. lightweight servos won't be able to lift a straight arm.
motor name pls?
RDS3115MG
@@demej00 , can you please provide a link or a name for the servo shield. I cannot find a proper one that connects directly to the Arduino board. Thanks!
This looks similar to mine though I got mine in china (as I live here) and the exact one I used seems to be sold out on ebay. This should work though. www.alsrobot.com/index.php?route=product/product&product_id=78
Is it strong
It will lift about a kilogram but you can get heavier duty servos for lifting more weight.