The Challenge was to make photo art… but as you might have guessed yes with a robotic arm. There are couple challenges to achieve that goal as you will notice.
For one we have to control the arms with two individual motors, so there is an inverse kinematic section we need to implement. Another challenge is having both motors work in tandem, as with an arm we don’t necessarily want to move one arm after the other, ideally it would be both arms together.
The highlight of this robot were the DC motors that we were using. They come equipped with Hall effect sensors allowing us to actually get some tracking of the DC motor. In a way, it gives us a bit more of a stepper quality by letting us have a finer position control but with the advantage of the power of a DC motor.
We first had to think of how we want out arm. We made to equal length segments, to simplify the equations.
We decided to go with a horizontal orientation, as there is a lot of wire management and components that we want to hide.
laser cut the components and used an acrylic fitment around the motor to grip onto the rotating shaft.
When approaching the code, we needed to find the relationship between the encoder values and the angle of spin achieved. Once we figured out the ratio, we need to find a way to control the motors individualy
https://github.com/marcjm/Robotic-Arm-/blob/55519720ef9831df9ba1b848970d664289a21299/robotic arms