Kinematic + inverse about AL5B

Lynxmotion Robot Arms
1

hello
I need your help if you can send me modeling (kinematic+inverse and etc.) or anything that help me about AL5B robot

Any help would be great
Thank u so much

2

Which controller are you using?

You can get the basics of IK here in the section “Calculating Angles Based on x,y,z”
www.robotshop.com/content/PDF/robotshop … -guide.pdf

You can see how it translates to computer code here:
github.com/Lynxmotion/Arms

3

thanks for your help

The robot kinematics and inverse kinematics calculations I just want it to be.
I have the AL5B robot, and want writing a simple program by C# to test Kinematic and inverse kinematic of it.
I don’t know how can calculate the kinematic and inverse kinematic for this robot.

thank you so much

4

We should have some code available in the coming days / weeks for the arm using the BotBoarduino. If someone from the community already has code, they will likely post it to help you out.

5

I don’t have an C# code for this, but have a couple of different things:

  1. You can look at code written for the Basic Atom Pros that control the arm. There are probably several versions out there including at least one I posted awhile ago: viewtopic.php?t=7639&p=78572#p78572

  2. I have a version of Arm code the works with the arms sold by Trossen Robotics… So different Arm and Servos and the like, but does have most of the math stuff in it: details on thread: forums.trossenrobotics.com/showt … -Robot-Arm
    Also I put the sources for it up on github\kurte. Some day when I run low on projects I will port this one back to my AL5D.

Good Luck
Kurt

6

Really thanks for your help

7

You can also check out this thread which has a link to a pdf document (unfortunately handwritten) showing the math
for forward and inverse kinematics.

viewtopic.php?f=6&t=4452&hilit=ikine

The last 2 pages have the equations that solve the IK, which is the hard part.

Joel

8

I’ve been working on BotBoarduino code to control a modified AL5D (with longer arm segments) with a PS2 controller, using Inverse Kinematics (both 3D and 2D). You can find it here:

github.com/EricGoldsmith/AL5D-BotBoarduino-PS2

You can change the arm dimensions in the code to work with any size arm.

-Eric

9

thanks all for your help