Python Project | Forward and Inverse Kinematics with 3 DOF Planar Robot
Vložit
- čas přidán 6. 08. 2024
- Hello Engineers! This is a 3 DOF Planar robot that I built to demonstrate both forward and inverse kinematics. Calculations were done using Python and the Dynamixel motors were controlled using the Arbotix micro-controller and the Arduino IDE. If you guys are building something similar feel free to leave a link in the comments below as I would love to see it!
☑️ Materials
AX-12A Motors - amzn.to/2uzxxHx
Whiteboard - amzn.to/2myJNDR
Rubber Feet - amzn.to/2vyzW6b
FTDI cable - amzn.to/2O4MGsj
12V power supply - amzn.to/2zSTLtf
Arbotix M Microcontroller - www.trossenrobotics.com/p/arbo...
Bioloid Brackets - www.trossenrobotics.com/store/...
✅ Resources
The code can be found on my GitHub page:
github.com/cckieu/3-dof-planar
☑️ About QRbx
Hi and welcome to my channel! My name is Aary Kieu and I have a B.S in Electrical Engineering. I enjoy working with robotics and will be showcasing some of my projects here. I will also be posting engineering-related tutorials (ones I wished were available when I was starting out in Robotics).
❔ Questions/Suggestions
Feel free to let me know in the comments below. I will respond as soon as I can. Cheers!
Super cool project! Complicated topics but it was done in a very simple and fun way!
Wow.! Thank you man...This I always wanted..This is the Most fundamental practical demonstration for understanding
Awesome project, thank you so much for sharing the code!
Very cool indeed, thanks for sharing.
Very nice instruction. Thanks a lot.
nice project!
It's very very helpful. Thank you sir.
I am a Korean developer.
Your video was very helpful.
Can you please explain how you calculated wx = px - a4*cos(phi)
wy = py - a4*sin(phi) equations....will be very much helpful if you explain the equation part
great project! what is the differance in equations of inverse kinimatics if i want elbow up??
How much should be included in the configuration corner? thank you.
Hello, I want to make 6 DOF robotic arm. can't we run the motors directly from python? From where i get the 6 DOF robotic arm ik equations?
Nice! Is there an code for the Arduino for 3 DOF? It's not in the github repo, and I'm not sure how to modify your 2 DOF program. Thanks!
Thank you for intro, i would like to connect my gt2560 prussa that i converted in a robotic arm to blender. would you be kind and share a script for that. i am new at this. thank you, i will open source what i do also. thank you
hello, im doing a project on a 4 dof robotic arm but i dont really know how to use inverse kinematics to control my arm to move to a specific location can you help me with it? appreciate it.
its looking amazing! can you add PID control on python ?
Yeah you can if you want to.
Can anyone say, how to calculate inverse kinematics for robotic arm (3dof) L1 =4.8inch , L2=4.8inch , L3=5inch?
How do I determine the value of phi ?
Hello, I'm a student studying robotics. If you look at the video, the Arduino code has A, B, C, and D, does it work only with A code?
i liked the vid. but i have some doubts where can i get the solution?
could you please help me in it?
What method do you use for inverse kinematics? Or does your program just use trigonometry to solve for the motors positions?
Yes the inverse kinematics is derived from trigonometry
i just want to inform you that you have a little mistake in your arduino code. For Example @04:59 you can see that you have specified pos_two = 86.4 but you declared pos_two as an int that means you can not store float values inside of an int variable. What you will get instead is that 86.4 will mit truncated to just 86 and stored as an int variable inside pos_two. If you do that a lot inside your project you will get a heck lot of inperfektions of your positioning. Solution: Use float or double instead of int for any floatingpoint number you want to store inside an variable. *Cheers*
Orders whiteboard, ends up drawing coords himself :) just print lines on paper and glue on paper on a mounting surface :)
@Trenton Alvin HAHAHA
why do you have 6 lengths values for your forward kinematics???
ong
I figured it out. Think of the original 3 distances you have as the hypoteneuse of a triangle. These three distances must be broken down into their x and y components respectively, sqrt(x^2+y^2) = h( one of your original lengths). Robotics 1 U1 (Kinematics) S5 (HTM) P2 (HTM by Denavit Hartenberg) explains it best in my opinion.
plz can i get the arduno code
if we need control degree by gui. how to write code interrup?
Maybe use pythons tkinter library?
Love your project. Can you send me ardruino code and your connecting from robot to ardruino
Hi the code is in the description. You can check out my dxl playlist for connections
I built a 5 Dof Robotic Arm and I need your help. Can I sent you a picture of it? I dont know how to calculate the inverse kinematic of it
Do you have a video? Share me the link
@@QRobotix czcams.com/video/-cm-rkKHva4/video.html
@@QRobotix Are you able to help me? Would appreciate it :) I am only 18 and i tried to code the inverse kinematics for the robotic arm. But I failed.
hello sir, I am designing a 4 axis robot arm for my university project. What is required of me in my project is to move my robot arm lineary in x,y,z axes with 3 potentiometers. I need your help with software. I would be very happy if you could help.
what motors are you using?
Servo motors
arduino code plzz
Could somebody translate this python code to c++ code? Please it would be sooo helpfull
I am making a 3DOF Robotic Arm that can pick and place objects. I am not able to figure out inverse kinematics equations by myself as there are no resources at all. Yours Is the only video which is practical and I have understood so far. Can you please make a video on inverse kinematics including Z axis also ? This is because for pick and place robotic arm Height is not fixed.. So Z axis will change.will you please make it? I am really confused how to figure out that phi angle
So you are building an RRR articulate robot?
Yes... Can i send you the picture of my robot on your email if you don't mind? Can you just take a look at it?
@@varunwalimbe3468 yup I'll take a look at it
@@QRobotixcan i get the email id on which it is to be sent?
@@QRobotix I have emailed you