Arduino / Teensy 6 DOF / Axis Robotic Arm Inverse Kinematics - Update

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: https://github.com/glumb/mrc

Den Roboterarm kann man in unserem Shop kaufen: http://micropede.de/shop/mp-robot-kit

Видео Arduino / Teensy 6 DOF / Axis Robotic Arm Inverse Kinematics - Update канала Maximilian Beck