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Arduino braccio robotic arm10/13/2023 We do that using the write() function which simply moves the servo to any position from 0 to 180 degrees. We usually need the length of links to calculate the inverse kinematics. ![]() How it works A Link is a straight line from one joint to another. Tested with Arduino UNO and Teensy 3.6, with the robotic arm Arduino Braccio. In the setup section we need to initialize the servos and the Bluetooth module and move the robot arm to its initial position. Calculates the inverse kinematics for a 3 links arm with a rotating base. String dataIn = "" Code language: Arduino ( arduino ) SoftwareSerial Bluetooth ( 3, 4) // Arduino(RX, TX) - HC-05 Bluetooth (TX, RX) int servo1Pos, servo2Pos, servo3Pos, servo4Pos, servo5Pos, servo6Pos // current position int servo1PPos, servo2PPos, servo3PPos, servo4PPos, servo5PPos, servo6PPos // previous position int servo01SP, servo02SP, servo03SP, servo04SP, servo05SP, servo06SP // for storing positions/steps int speedDelay = 20 Then we need to define the six servos, the HC-05 Bluetooth module and some variables for storing the current and previous position of the servos, as well as arrays for storing the positions or the steps for the automatic mode. Both of these libraries are included with the Arduino IDE so you don’t have to install them externally. So first we need to include the SoftwareSerial library for the serial communication of the Bluetooth module as well as the servo library. And at the end of this article I will post the complete source code. Arduino Robot Arm CodeĪs the code is a bit longer, for better understanding, I will post the source code of the program in sections with description for each section. As an Amazon Associate I earn from qualifying purchases. Amazon / Banggood / AliExpressĭisclosure: These are affiliate links.
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