I have started a project to use the AL5D robotic arm with my Macintosh computer. I am making the source code public at the following location: [image] KevinCoble/RoboticArm Mac program for controlling the LynxMotion AL5D robotic arm with the SSC-32U interface - KevinC…

Hi @MacRobotics ! Welcome to the RobotShop community! [image] MacRobotics: I have started a project to use the AL5D robotic arm with my Macintosh computer. Nice! :smiley: We don’t have many OSX users, so that is pretty cool! [image] MacRobotics: I am making the sou…

The Forward Kinematics have been added, using the Denavit-Hartenberg method. They are reasonably accurate. What I will have to do is add some calibration for the servo motor angles, as the code currently uses the assumption that 1000 microSeconds is a 90 degree turn. Close for…

That sounds pretty good! OK, now I totally need a mac to test this out! :stuck_out_tongue:

OK, I’ve added some simple calibration of the servos (found most went +/- 100 degrees for the 500 and 2500 microSecond pulses I’ve also put in the math for inverse kinematics. It will take the XYZ position you enter, and if it can find a solution, set the servo angles to put th…

[image] MacRobotics: OK, I’ve added some simple calibration of the servos (found most went +/- 100 degrees for the 500 and 2500 microSecond pulses Makes quite a bit of sense. That’s what the SSC-32/SSC-32U also allow for in their internal settings for calibration of each c…

OK, I added unit selection on the kinematics, for those adverse to shifting decimal points!:wink:

Inverse kinematics with condition (vertical gripper) now in, if anyone is interested in the math for that. Now waiting on the pressure resistor I ordered so I can instrument the gripper and add pressure feedback on the gripper controller. Then onto vision feedback… (If you look…

Gripper sensor code, with real-time plot and ‘grip to pressure limit’ option added

Neat stuff! I think you are due to make a video of all these features! :wink:

Mac code for working with AL5D arm

Lynxmotion Robot Arms

scharette May 19, 2020, 5:22pm 2

Hi @MacRobotics !

Welcome to the RobotShop community!

Nice!
We don’t have many OSX users, so that is pretty cool!

Very nice of you and much appreciated!

I’m sure the community will be curious, too!

Looking forward to it!

That is certainly an issue many customers have (or a step they simply forget to do)