The following describes a simple method (inverse kinematics) of calculating the angles for all joints of a robotic arm to obtain a desired position of the end actuator (gripper). The video bellow shows the algorithm at work. The picture bellows shows the robot arm used for this example. It has 5 degrees of freedom: 1.… Read More Simplified inverse kinematics model for a 5 degree of freedom + gripper robotic arm (2011)
TicTacToe Robot Arm (2010) TicTacToe game Robot Arm application. Robot Arm with 5 degrees of freedom plus gripper, made with Lego Technic, LynxMotion and custom made parts controlled with a Parallax Propeller Microprocessor. Game board made with an array of 9 CNY70 infrared light emitters and detectors. User interface with 2 line LCD display and… Read More TicTacToe Robot Arm (2010)
Robomagellan, RC Truck Hacked version (2010) This version of my 2010 Robomagellan robot was based on a RC Toy Truck base where the original truck electronics board was replaced with a DFRobot Motor Controller (L298N H-Bridge) and the original electromagent used for steering was replaced with a Hitec HS-322HD servo. Additional sensors (sensor overkill perhaps)… Read More Robomagellan, RC Truck Hacked version (2010)
Experimental robot arm with 5 DOF (Degrees of Freedom) plus actuator (gripper). The Lego version was to shaky and weak so replaced from the elbow down with Aluminum Servo Erector brackets from Lynxmotion. Gripper, wrist and wrist rotate made with Lego Technic and aluminum parts, elbow, shoulder and base made with Lynxmotion parts. Parallax Propeller Proto… Read More Robotic Arm, Lego gripper + Lynxmotion Servo Erector elbow, shoulder and base version (2010)
My first Robomagellan robot for the Ottawa Robotic Enthusiasts (ORE) Robomagellan competition was based on a RC Truck with minimal hacking. In order to preserve the RC Truck only the body was removed and all the robot components were mounted in an acrylic base which could easily be removed. The Radio Control was mounted in the acrylic… Read More Robomagellan, RC Truck Minimum hacking version (2010)
This object (http://obex.parallax.com/object/224) allows the control of up to 14 standard servos. I wrote it for my 2010 Robotic Arm. It requires 1 cog. 2 cogs required for Accelerated/Decelerated Moves. This object is based on the Servos for PE Kit.spin but incorporates many new features like: a) Three different type of movements: Immediate, Gradual and Accelerated/Decelerated… Read More Propeller Object: Enhanced Servo Controller with Acceleration (2010)
Method and material I used to easily connect servos to Lego Technic projects. Used for my 2010 Robotic Arm. This tip was based on this source: Tutorial: Connect LEGO wheels an gears to a RoboBuilder servo.