are you human? - computer vision - motion control - mechanical design - machining - programming - i assume also at least some application of maths (perhaps linear algebra) 4 months for all that? you're something. and how do you finance your projects? that's a lot of tools for just hobby... and seems like the space is a commercial premise. salute... i want to be you.
Yes, I'm human ;) Its a little bit more than a hobby, I'm a freelancer, mostly programming but with some custom hardware on the side. Projects like this help me to learn new things and attract new clients. But mostly, its just great fun to do.
Where did you learn all of this?! That’s so amazing!! Like seriously, if you have some tips and see this comment, please let me know!! #MechanicalEngineeringStudent
I build a 6-axis robot arm this year,but with no idea making a 6-axis controller.Till I saw this video and got the source code on your Github.That has helped me to a great extent.
Aaaand you're hired for wherever you want. Seriously, nothing says SpaceX, LockHeed Martin, Literally any car company than designing your own robot arm. This is amazing.
Wauw Kris! Je hebt echt talent! Het is erg mooi om te zien dat je vanaf helemaal niks, een professioneel uitziende robotarm designed, bouwt en daarnaast ook nog programmeert! Dan stelt mijn robotarm nog niks voor..
Nice work, I'm really envyous about your workshop. Using stepper motors and worm gears isn't the best choice, now you have backlash and some springyness in your joints. Why no servo motors? You could use magnetic rotary sensors from ams and some nice geared dc-motors. For reducing the needed torque: Make sure, the center of mass of the second arm link is as close as possible to the ellbow joint, best is its located directly on the axis. Then add some springs to the first arm link in the shoulder joint to compensate the weight of the arm. There's a way to calculate the needed excentricity and base point for given weight and spring compliance, but I can't find a source on the web. When this is done correctly, all main joints should be free of static loads and the motors have just to accelerate the masses and regulate disturbances (eg. extra weight on the gripper). This is also done in real industrial robots, you can often see the cylinders at the shoulder that are pneumatic springs for the weight compensation.
It's not that easy to make a servo with a DC motor and a random encoder. It takes a lot of time if he has never done such thing before. Finding out the right PID constants, plotting step responses and dealing with noise in the encoders etc. is very time consuming. I think he did the right choice going for steppers. I think you're right about the other stuff you said.
Accept my respect for your creativity. Let me ask a few questions: What is the width of the rail? What is the weight of the robot? What is the power of the largest motor?
Awesome job! I'm trying to build one for school project and this one is awesome, my project would never be compared with yours. Let me tell you that this is the first time I comment a video in CZcams because you deserve to be congratulated. Greetings from Mexico.
+Kris Temmerman I'm studying mechanical engineering, always dreamed of having a workshop like that. Would you consider creating an apprenticeship to help you out with stuff around the shop?
This is very interesting. I've reviewed many DIY robot arm builds and this one is the most professional I've seen. Despite all the great design, engineering, materials, machining and software. The arm is not stable like a commercial robot arm, you can see a sway and shake. When reviewing thees videos want to see if the motion is rock solid. When you see a compound move (two joints moving at once) there should be no movement any were else. What is the secret to the expensive robot arms? Gearing, backlash, balance?
We are hoping to add a robotic arm to a VR room we made. Wondering if you know any good candidates to buy that are turn key? Looking for aesthetics and big (hanging from the ceiling)
the secret is rigid materials, precise servos and first of all: good, accurate design, which requires much study on mechanics like kinematics, dinamics, statics, elasticity, etc and takes years to pick up. That's it.
May I suggest that when you are sketching designs for prototyping and building, you use a composition notebook?That way you won't have loose or torn papers so you can keep track of your work.
Lol, you're like me - old school. He only did a sketch for the video. Almost all the stuff in that shop was CNC - his notebook is a thumb drive. The wire strippers and flush cuts were top of the line. What was he building? A robot arm that stacks blocks.
For the amount of time and money spent on building it, I would have come to your address and stacked those blocks for 4-5 months. I would also have brought my Yamaha keyboard and played music. Great video.
Man you are amazing.I want to learn from you a lot and be like you.Please can you make vedios on educating the mechanical machines which you have in your workshop,how to work on them ect.Then teach the programming skills that you have.Then the effective design process of any project.It will be very fascinating if you share your knowledge and I personally love to watch your vedios but want to get knowledge in much detail.Thanks man you are an inspiration for others.....Keep it up the great work....
The first time the gripper releases a block either the grippers are adhering to the block or they are not releasing simultaneously because the block scooted. I am assuming there is no other movement in the arm at the time. Just another detail to take care of wrapping up some very nice work on your part. Someone mentioned it may be a stepper motor kicking back?
Totally found my new role model XD Seriously, I'm majoring in robotics (finishing up my general education right now) and I haven't learned how to do anything like this. Where did you learn how to do all this and how long did it take you to get to this point?
Thanks :) The hardware: not that long, most things I learned while making it. The software: hard to tell, I'm a programmer for more that 10 years, so I have some experience. which makes it easy to fill in missing gabs or find solutions for problems .
When you come up with an idea for a project, what is the first step in realizing that project? It looks like you go 1. Visualize it on paper 2. Design it in (auto-cad?) 3. Acquire the physical components 4. Assemble (base components, electronics, and software) 5. Test and Debug ... Does that sound about right?
Great work sir..... Please tell me Your education qualifications And which software use make 3d modeling..... Which language best for this type project make in future..... Great work sir.....
This is an awesome build, i was curious however what is that program you're using that's displaying the robot kinematics and position on your laptop. is that something you've written or something that's available? Also did you run this entire arm off an Arduino or did you just use that for motor control then use your mac for computer vision and path planning?
I don't mean this to be rude, I'm just curious. Why is it so jittery when it comes to a stop? Like it moves smooth then it reaches it's destination and slams to a stop shaking itself. Is that just an effect of the stepper motors or just needs a decelerating script or something?
The arm/the single parts of the arm have their center of mass somewhere in the middle. This means, that, when the arm isat rest, the motor will not. You should think about counterweights (so the CoM is at the motor axle) for more precision, but it will make the arm move slower, because of greater mass, obviously
Amazing project! One man show! Is there a "how to build this" guide for this project? I would be interested to consider it to give it a try. I didn't see anything related to this in your git repos. Cheers!
Can it Move Linear... looks like a Point to Point movement... still awesome! I would like to build one of my own with everything like an HMI, Linear Transformations, diffrent speeds, Bases and tools you can define. I know it will take some years :P
Nice, but not nice. Too much work and money put into something that operates like an expensive toy. Here are a few tips: 1) Make it a loaded system. Use very strong springs/hydraulic suspension cyllinders to load it, so it doesn't wobble around on it's own. 2) Use servos with feedback, not steppers. Servos are way more powerful(the "default" servo model you can buy is going to be around 400W) and can hold their position for infinite amounts of time without overheating, if cooled properly, whereas steppers will gradually eat themselves if forced to stay in one positon for long periods of time. 3) Even though the system should be loaded, it should be in perfect balance. The servos or steppers should only be tugging the work/tool around, not the entire robot. 4) Inertia. There's lots of it. Not good. 5) Support struts. I haven't noticed even one, and that is quite important considering you have "hollow" arms. Same can be said for overall rigidity. 6) Backlash. You have a ton of backlash everywhere. Use non-backlash gearboxes if you can find any, and if not, refer to tip #1 Overall it's a good project, and I take it as this was your first time designing a robot. Good job, and keep practicing!
***** Yes, your right, I know those points you mention (now, not when I was building) . It was just a learning experience, and I learned a lot. Thanks for your comment! :)
***** Thanks for the comment. Could you please point out some of the pros/cons of using Conventional Servos VS Closed-Loop Steppers (steppers w/ feedback) for robotic applications? - I ask, because I was under the impression that a stepper motor can provide greater torque at lower RPMs, which seems ideal for any slow-moving project. Hope to hear back.
Joshua Tulberg Servos are way, WAY more powerful, since they're simply 3-phase motors. Steppers are held at a spot, servos are differentially driven to make them rotate precisely. You can yank a stepper off it's position, while yanking a servo off is impossible, since the controller will dump kilowatts into it to keep it at the position actively, versus a stepper being held at almost "logic" levels. If you've ever heared a servo working, it sounds exactly like a compensating VFD, simply because the controllers are nearly exactly the same.
***** Actually I don't agree completely with you. Why? Because you forgot what servo in basis is... Servo isn't just AC it can be DC also, and DC motor is cheaper than AC. Controller is too lot cheaper for DC. Also, when you look at those controllers they are in 90% of cases PID controllers. How controllers work? They calculate error based on information from encoders, and apply input. In case of DC motors your input is PWM or in case of AC - frequency, so controller doesn't change current. So when your load is more than moment of motor, servo will slip, until load applied becomes smaller than moment of a motor . For servo motor you need good speed reduction because they work at high speeds, and on zero RPM you don't have any torque, where stepper motor have highest torque on zero rpm (hold torque). On industrial robots, reduction is done using harmonic or cyclo drives. Those are way expensive than using ordinary stepper motor with belt reduction, or simple gearboxes like in this case (which is not best solution). So i give this project good grade, because it is cheap, and guy did great thing with vision system. Yes, there is a problem with rigidity which maybe can be less noticeable using different tricks, but can't be ever solved, because of bad construction of robot. If you wan't to see good robot that is using stepper motors, type st robotics on youtube, you will be surprised.
Good job. I estimate you've done this.. For almost two and a half years by yourself... But share the equipment. You also probably have a very long history of programming. I say this because I Am doing all of this too BUT... I have difficulties driving to the equipment since my car caught on fire a while ago. I'm just reaching the 1.5 year mark myself. One question..... Why is there a window right there.? Are you advertising for yourself or for the equipment?
Thanks! your not that far off :) I have quite a lot to learn a bout the mechanical stuff etc. But I'm a decent programer. My house/workshop once was a shop. So it came with the store window. Its just something for the passersby to look at. The clients I work for don't come in my neighbourhood. so, its more for fun.
are you human?
- computer vision
- motion control
- mechanical design
- machining
- programming
- i assume also at least some application of maths (perhaps linear algebra)
4 months for all that? you're something.
and how do you finance your projects? that's a lot of tools for just hobby... and seems like the space is a commercial premise.
salute... i want to be you.
and you can draw too...
Yes, I'm human ;)
Its a little bit more than a hobby, I'm a freelancer, mostly programming but with some custom hardware on the side. Projects like this help me to learn new things and attract new clients. But mostly, its just great fun to do.
Where did you learn all of this?! That’s so amazing!! Like seriously, if you have some tips and see this comment, please let me know!!
#MechanicalEngineeringStudent
he's not human ,for real !! i'm soo amazed
he is iron man......this guys is not of this world
This should’ve been like a 27 part series. That way I’d have an understanding of all the stuff I don’t know. Bravo dude!
I build a 6-axis robot arm this year,but with no idea making a 6-axis controller.Till I saw this video and got the source code on your Github.That has helped me to a great extent.
Dawn Chang where are you? We can contact by QQ:30088903,thanks
Can you help me with cad files and source code
What you did in 2014 is still amazing! Which itself is amazing!
I'm probably too late, but can we get a tutorial for this or the learning resources?
Excellent Person. Excellent Engineer. Excellent Father. CONGRATULATIONS !!!
Aaaand you're hired for wherever you want.
Seriously, nothing says SpaceX, LockHeed Martin, Literally any car company than designing your own robot arm.
This is amazing.
too many fans need to knows how to be Kris Temmerman
I`m very excited to have the sources to learn that stuff u do
When are you going to build the Iron Man suit?
My god, you have a lot of free time and budget to develop this, great work!
24h per day !
You made the whole thing that a company of 500 people doing to archive, congratulation!!!!
The art of engineering ! :)
Amazing how prisons look like these days!
What??
@@fezz6701 the guy in the video is wearing an orange jump suit, people in prisons wear those.
I enjoyed watching this. Thank you! I wished it showed the whole process and not only in 5 mins.
Wauw Kris! Je hebt echt talent! Het is erg mooi om te zien dat je vanaf helemaal niks, een professioneel uitziende robotarm designed, bouwt en daarnaast ook nog programmeert! Dan stelt mijn robotarm nog niks voor..
Nice work, I'm really envyous about your workshop.
Using stepper motors and worm gears isn't the best choice, now you have backlash and some springyness in your joints. Why no servo motors? You could use magnetic rotary sensors from ams and some nice geared dc-motors.
For reducing the needed torque:
Make sure, the center of mass of the second arm link is as close as possible to the ellbow joint, best is its located directly on the axis. Then add some springs to the first arm link in the shoulder joint to compensate the weight of the arm. There's a way to calculate the needed excentricity and base point for given weight and spring compliance, but I can't find a source on the web.
When this is done correctly, all main joints should be free of static loads and the motors have just to accelerate the masses and regulate disturbances (eg. extra weight on the gripper). This is also done in real industrial robots, you can often see the cylinders at the shoulder that are pneumatic springs for the weight compensation.
It's not that easy to make a servo with a DC motor and a random encoder. It takes a lot of time if he has never done such thing before. Finding out the right PID constants, plotting step responses and dealing with noise in the encoders etc. is very time consuming. I think he did the right choice going for steppers. I think you're right about the other stuff you said.
There are servos in the market with the magnetic encoder like the parent coment guy talked about. And they are much better
Accept my respect for your creativity.
Let me ask a few questions:
What is the width of the rail?
What is the weight of the robot?
What is the power of the largest motor?
Awesome job! I'm trying to build one for school project and this one is awesome, my project would never be compared with yours. Let me tell you that this is the first time I comment a video in CZcams because you deserve to be congratulated.
Greetings from Mexico.
Armour Mendia Thanks! :) You have to start somewhere, I'm also still learning stuff. Good luck with your project!
oh My God... you have your own lab, its really really great. 3D printer, CNC milling, drilling machine, lathe machine...
Muhammad Ari Wibowo Thx! I'm a lucky guy :)
+Kris Temmerman I'm studying mechanical engineering, always dreamed of having a workshop like that. Would you consider creating an apprenticeship to help you out with stuff around the shop?
C'est des personnes comme lui qui ont fait ce pays !
This is very interesting. I've reviewed many DIY robot arm builds and this one is the most professional I've seen. Despite all the great design, engineering, materials, machining and software. The arm is not stable like a commercial robot arm, you can see a sway and shake. When reviewing thees videos want to see if the motion is rock solid. When you see a compound move (two joints moving at once) there should be no movement any were else. What is the secret to the expensive robot arms? Gearing, backlash, balance?
We are hoping to add a robotic arm to a VR room we made. Wondering if you know any good candidates to buy that are turn key? Looking for aesthetics and big (hanging from the ceiling)
the secret is rigid materials, precise servos and first of all: good, accurate design, which requires much study on mechanics like kinematics, dinamics, statics, elasticity, etc and takes years to pick up. That's it.
May I suggest that when you are sketching designs for prototyping and building, you use a composition notebook?That way you won't have loose or torn papers so you can keep track of your work.
Lol, you're like me - old school. He only did a sketch for the video. Almost all the stuff in that shop was CNC - his notebook is a thumb drive. The wire strippers and flush cuts were top of the line. What was he building? A robot arm that stacks blocks.
Amazing. That work shop would be everything I could need for prototyping and beyond..Dream shop. Great job too, skills needed to go with those tools.
If all of this work is really done by you, then you deserve more than 10 million subscribers!
great work!... nice and clear... Ps: and i wish had an workshop like yours
great work !
mechanics, electronics, programming... all by yourself ?!
how long took it to build this?
tnx! it took me +- 4 months
plz said how you're doing camera-to-machine control, I need it
@@shantosutradhar1365 google computer vision, object detection
@@le-0ne More explanation please.
Good, thanks Kris
For the amount of time and money spent on building it, I would have come to your address and stacked those blocks for 4-5 months. I would also have brought my Yamaha keyboard and played music.
Great video.
My God man you make me cry every time I see the stuff you make, it's so cool, so genius.
Amazing work. I am guessing the 3 dislikes were mis-clicks. Dunno how anyone could not like that!
Man you are amazing.I want to learn from you a lot and be like you.Please can you make vedios on educating the mechanical machines which you have in your workshop,how to work on them ect.Then teach the programming skills that you have.Then the effective design process of any project.It will be very fascinating if you share your knowledge and I personally love to watch your vedios but want to get knowledge in much detail.Thanks man you are an inspiration for others.....Keep it up the great work....
nice job Kris Temmerman
Can you please let me know how long did it take you to build it up completely from the scratch???
Please
Dear respected sir, I am really very happy for your awesome robot.
*Belle démonstration, c'est vraiment du bon travail, à bientôt*
That's aaaaawesome dude it moves amazingly soft and gentile !!! Awesome dude!! Damn I'll be a macatronical engineer!!!
That was impressive! One man band!
The first time the gripper releases a block either the grippers are adhering to the block or they are not releasing simultaneously because the block scooted. I am assuming there is no other movement in the arm at the time. Just another detail to take care of wrapping up some very nice work on your part. Someone mentioned it may be a stepper motor kicking back?
What program is used to programming the movement of the robot ? In the video it schematically in 3D sets the next step of the robot
Владимир А I am also interested in the 3d robot environment.
Totally found my new role model XD
Seriously, I'm majoring in robotics (finishing up my general education right now) and I haven't learned how to do anything like this. Where did you learn how to do all this and how long did it take you to get to this point?
Thanks :) The hardware: not that long, most things I learned while making it. The software: hard to tell, I'm a programmer for more that 10 years, so I have some experience. which makes it easy to fill in missing gabs or find solutions for problems .
When you come up with an idea for a project, what is the first step in realizing that project? It looks like you go 1. Visualize it on paper 2. Design it in (auto-cad?) 3. Acquire the physical components 4. Assemble (base components, electronics, and software) 5. Test and Debug ... Does that sound about right?
Yes, something like that. but its more a back and forth between the stages. It was all experimental for me, so I made a lot of changes along the way.
Excellent.... This is another level. 👍
Great work sir.....
Please tell me
Your education qualifications
And which software use make 3d modeling.....
Which language best for this type project make in future.....
Great work sir.....
Kris, you are genius!
You sir, are a god among men.
Nice mornings work - what did you do after lunch?
If I were a boss, I would hire you do all things done
Oh it's real cute stacking those blocks, just give it a year or two and it will be stacking our severed heads!
Well, that is a nice robotic arm!
What programs did you use to make this? Also, awesome video! I hope your channel will grow well and a happy new year!
looks cool! good job.
two questions:
why don't you cut the zip-ties flush?
why don't you have a space after "=" in the code?
one answer: I'm lazy
Puree, wat een project...
incredible work my friend, I may be in touch soon.
This is an awesome build, i was curious however what is that program you're using that's displaying the robot kinematics and position on your laptop. is that something you've written or something that's available? Also did you run this entire arm off an Arduino or did you just use that for motor control then use your mac for computer vision and path planning?
I don't mean this to be rude, I'm just curious. Why is it so jittery when it comes to a stop? Like it moves smooth then it reaches it's destination and slams to a stop shaking itself. Is that just an effect of the stepper motors or just needs a decelerating script or something?
awesome axis
Hi man, that's excellent. Did you embed the kinematics calculations into Arduino or did you write it on C++ and send locations via serial port?
How in the world?! That's amazing! I wish I had the skills to do that
Outstanding build !!!
The arm/the single parts of the arm have their center of mass somewhere in the middle. This means, that, when the arm isat rest, the motor will not. You should think about counterweights (so the CoM is at the motor axle) for more precision, but it will make the arm move slower, because of greater mass, obviously
Amazing project! One man show! Is there a "how to build this" guide for this project? I would be interested to consider it to give it a try. I didn't see anything related to this in your git repos. Cheers!
Can it Move Linear... looks like a Point to Point movement... still awesome!
I would like to build one of my own with everything like an HMI, Linear Transformations, diffrent speeds, Bases and tools you can define. I know it will take some years :P
Nice work. Well done.
you're definitely an inspiration!
Realy nice project
Wow, they allow shooting CZcams videos in the prison machine shop? Very progressive, Bravo!
What a beautiful video! You have many skills
Is everything done by a single person ? 😱😱😱
Found your channel today! It's been what I've searching for ;)
Brilliant. keep making such type of videos
now thats what I call a workshop !!!!!!!!!!!!!!!!!!!!!!!!!
Very cool and impressive!
Good work thanks sir
Very cool! I really liked this video and your channel. I'll wait for the new video.
This is the 1st time I see a home robot on a rail
How mush does it cost please
Anyone van answer
It will be suitable for phone videos
Thank you
P:))
Wow this is really AWESOME!!!!
Oh I love this video! It's such an elegant masterpiece!
Awesome talent
What software package did you use to simulate your robotic arm?
Beatiful machine and love chopin :)
Amazing project!!
very amazing video!
Incredible. Bravo.
Dear Kris,
What is the software you are using for simulation and programming?
Nice, but not nice.
Too much work and money put into something that operates like an expensive toy.
Here are a few tips:
1) Make it a loaded system. Use very strong springs/hydraulic suspension cyllinders to load it, so it doesn't wobble around on it's own.
2) Use servos with feedback, not steppers. Servos are way more powerful(the "default" servo model you can buy is going to be around 400W) and can hold their position for infinite amounts of time without overheating, if cooled properly, whereas steppers will gradually eat themselves if forced to stay in one positon for long periods of time.
3) Even though the system should be loaded, it should be in perfect balance. The servos or steppers should only be tugging the work/tool around, not the entire robot.
4) Inertia. There's lots of it. Not good.
5) Support struts. I haven't noticed even one, and that is quite important considering you have "hollow" arms. Same can be said for overall rigidity.
6) Backlash. You have a ton of backlash everywhere. Use non-backlash gearboxes if you can find any, and if not, refer to tip #1
Overall it's a good project, and I take it as this was your first time designing a robot.
Good job, and keep practicing!
***** Yes, your right, I know those points you mention (now, not when I was building) . It was just a learning experience, and I learned a lot. Thanks for your comment! :)
*****
Thanks for the comment.
Could you please point out some of the pros/cons of using Conventional Servos VS Closed-Loop Steppers (steppers w/ feedback) for robotic applications?
- I ask, because I was under the impression that a stepper motor can provide greater torque at lower RPMs, which seems ideal for any slow-moving project. Hope to hear back.
Joshua Tulberg Servos are way, WAY more powerful, since they're simply 3-phase motors.
Steppers are held at a spot, servos are differentially driven to make them rotate precisely.
You can yank a stepper off it's position, while yanking a servo off is impossible, since the controller will dump kilowatts into it to keep it at the position actively, versus a stepper being held at almost "logic" levels.
If you've ever heared a servo working, it sounds exactly like a compensating VFD, simply because the controllers are nearly exactly the same.
*****
Actually I don't agree completely with you. Why? Because you forgot what servo in basis is... Servo isn't just AC it can be DC also, and DC motor is cheaper than AC. Controller is too lot cheaper for DC. Also, when you look at those controllers they are in 90% of cases PID controllers. How controllers work? They calculate error based on information from encoders, and apply input. In case of DC motors your input is PWM or in case of AC - frequency, so controller doesn't change current.
So when your load is more than moment of motor, servo will slip, until load applied becomes smaller than moment of a motor .
For servo motor you need good speed reduction because they work at high speeds, and on zero RPM you don't have any torque, where stepper motor have highest torque on zero rpm (hold torque).
On industrial robots, reduction is done using harmonic or cyclo drives. Those are way expensive than using ordinary stepper motor with belt reduction, or simple gearboxes like in this case (which is not best solution).
So i give this project good grade, because it is cheap, and guy did great thing with vision system. Yes, there is a problem with rigidity which maybe can be less noticeable using different tricks, but can't be ever solved, because of bad construction of robot.
If you wan't to see good robot that is using stepper motors, type st robotics on youtube, you will be surprised.
that's the most condescending comment i've ever read
Hey, Kris. It's an astonishing of what you've done. What is all the software that you used for developing and simulation?
Who or what is playing the piano? (sounds like an A.I. playing)
Incredible, my respect!!!
Absolutely amazing!
Nice work!
Excelente trabajo. ¡Arte en movimiento!
nice work and very nice workshop :)
I wish I had all the tools like you do
fuck ! you're genius man ,so creative and great skills
Do people understand how crazy this is??
You are my hero.
Hei man, nice job ! Why not do an open-source robot arm that you can 3d print ? This is what I would like to do in the following months. Cheers, Mihai
Amazing project
Hi, excuse me one question here. How can someone develop your engineering skills? Like... how?! How did you get all that experience?
So talented
Good job. I estimate you've done this.. For almost two and a half years by yourself... But share the equipment. You also probably have a very long history of programming. I say this because I Am doing all of this too BUT... I have difficulties driving to the equipment since my car caught on fire a while ago. I'm just reaching the 1.5 year mark myself. One question..... Why is there a window right there.? Are you advertising for yourself or for the equipment?
Thanks! your not that far off :) I have quite a lot to learn a bout the mechanical stuff etc. But I'm a decent programer. My house/workshop once was a shop. So it came with the store window. Its just something for the passersby to look at. The clients I work for don't come in my neighbourhood. so, its more for fun.
@@KrisTemmermanNP I need names for the sensors
I'm working on a digital triplet of a 6DOF arm. The inverse kinematics are giving me trouble😭
But I know I'll get it💪