I need to use the robotic arm to grip a probe and then whilst keeping the probe vertical, it then needs to follow a straight line trajectory without any change in the vertical position. Can anyone suggest how I go about this
Many thanks
Use IK (Inverse Kinematics) to calculate the position of the arm.
Larry
If you need any degree of precision an “arm” may not be the way to go.
Well, the error in a lynx arm is somewhere under 1cm in the tip of the gripper with the arm fully extended. The main source of errors comes from within the shoulder joints, and they get smaller (to the actual servo resolution) as you get closer to the tip of the arm. Now this can be dealt with by the way you design your task. You can compensate and earn a few extra mm if you employ small “tricks†such as adding a spring at the base to apply a force on the right or left might get rid of some mechanical backlash in servo’s gears or arm (or you can do that by moving pass your destination a little and the back). You can also use the wrist rotation (which has less positioning error) by slight tilting to reach your target. Or even better add a sensor or a camera to the setup.
Larry
I have been using RIOS, and the SSC-32 to draw squares with a crayon; oh also a L6 arm, and the results don’t fall within the cm range yet, but this is due to lack of calibration, in my opinion.
The lines are quite straight and usually within 1mm, which means I can repeat the motion until the crayon line is really dark.
I am pondering calibration methods, which I will share when I get there.