Robot Arm with Object tracking Sensor. The IR eye is used as an Object detection and tracking sensor. For more details about the eye see: https://www.robotshop.com/letsmakerobots/node/11293. The robot arm will try to keep the distance between the sensor and the object fixed. Based on the data received from the four IR sensors the controller will decide the suitable position of the servo motors to keep the distance between the sensor and the object fixed. The controller used for this project is the Wild thumper controller board. for more details about the controller see: https://www.robotshop.com/letsmakerobots/node/24368.
If it was to buy an arm and set it on a table, you can click the “finished” box.
Could we get a bit more here? Description of the project, controller used, what it is going to do, programming method, any sensors, a video of the arm working, some assemby pictures --we will take really anything here.
the project is to use camera as vision sensor. it is required to design a new controller so that the arm will be directed toward objects in real 3-D space through the camera pictures ( which is 2-D space)…
Unfortunately DAGU send the old controller by mistake
Unfortunately DAGU send the old controller by mistake. I run this controller but it is not really good. i expect to get the new controller from DAGU in the next week. After receiving the good controller i will finish the mechanical fixing ( since it is not very stable) and start the project step by step.
the arm in horizontal position. the current is increased due to arm weight.
the arm in horizontal position. the current is increased largely because the lower servo must move to the other end but it could not do that because the servo power could not counter the arm weight.
I got the new controller last week. however i could not install the software in the CD. it is not working neither in my laptop with windows vista) nor in my desktop( with windows XP sp2). when i tried direct commands it works fine, so i wrote my own software in VB script running on excel sheet.
the overall current drawn is higher than before and the servo speed is very high.
Phase #1 of this project is to build the required software that guide the robot arm to specified position in 3-D space. this software will depend on inverse kinematic equations to estimate the joints angles. then, a lookup table will be used to find the required servos pulse widths.
if it is required to set accurate position of the robot arm then the Grip length must be calculated in term of grip width. The Grip used in this arm is from DAGU.The grip mechanism uses a scissor action to open and close the gripper, so the grip length changes depending on the grip width. The relationship of length to width was determined to be a third order polynomial( see https://www.robotshop.com/letsmakerobots/node/24441):
y = -0.0181x3 + 0.0557x2 - 0.2001x + 10.64
where, y; is the Grip length and x is the grip width
The Dagu robot arm has 6 DOF ( 6 servos). they are:
Base Servo
Shoulder Servo
Elbow Servo
Wrist Servo
Hand Servo
Grip Servo
Range of Motion
Servo motors are controlled by pulse-width modulated signals that control the position of the servo actuator. Servo pulse widths vary from 500 to 2500 microseconds, which corresponds to a servo rotation angle of approximately 0° to 180°. A pulse width of 1500 microseconds will set the servo at the neutral position, or 90°. The range of motion and direction of travel for the servos used in the DAGU arm are summarized below:
Hi friend, I like your robot I need some imformation about it please. What do you think about your robot? Is it a good robot? have any problem? I need buy one, but im not sure. I know is a DAGU robot, but in robotshop.comm someone said they have a very high rate of failure and the gripper and wrist are especially susceptible. Please help me I need to know If yourecommendme this robot, I want to teleoperate the robot with a sensorisedglove (acelerometers and gyroscopes).
well, if you are asking about the Robot Arm platform, it is cheap one (low price compared with others) also it sufferes from many design problems. i do not recomend it for researches or education. it maybe ok for hobbies and demos.
i could not understand your requirements exactly, but it may not be the correct choice for you. the following are some of the problems:
the platform body is heavy.
the joints is not exactly fitted.
no ballbearings used.
the length of the grip is long compared with the length of the forarm (this could be the worst thing)
the rotating base is not correctly designed.
my platfrom is currently broken and is not working anymore!!
thanks you, it is all i need to know, well you haveclearedmy doubts. I must find another robot for my applicacion because I need precision. I want to control a robot arm with the movements of my arm using a glove with acelerometers and gyroscipes. What do you think will be the best robot arm for my application? Its only for research proyect I need a small one like yours. Thank you again my friend.
