Hey guys,
I bought a hexapod robot kit from AliExpress like this one and have used KurkE’s Phoenix coded ported for Arduino along with servo driver I have written for the Pololu Maestro servo controler.
I have basically everything working but am struggling with the hexapod joint dimensions for the IK calculations. I can tell that something is wrong because when I adjust the body position up and down the legs fan out, which tells me that there is something wrong with my link lengths.
I have been hunting for a diagram or something that explains what all the global link length values represent but haven’t been able to find anything as yet. I would appreciate any help on this.
From what I can tell these are the values I need to tweak from the Hex_Cfg.h file:
[code]#define cXXCoxaLength 29
#define cXXFemurLength 84
#define cXXTibiaLength 124
#define cRROffsetX -43 //Distance X from center of the body to the Right Rear coxa
#define cRROffsetZ 75 //Distance Z from center of the body to the Right Rear coxa
#define cRMOffsetX -65 //Distance X from center of the body to the Right Middle coxa
#define cRMOffsetZ 0 //Distance Z from center of the body to the Right Middle coxa
#define cRFOffsetX -43 //Distance X from center of the body to the Right Front coxa
#define cRFOffsetZ -75 //Distance Z from center of the body to the Right Front coxa
#define cLROffsetX 43 //Distance X from center of the body to the Left Rear coxa
#define cLROffsetZ 75 //Distance Z from center of the body to the Left Rear coxa
#define cLMOffsetX 65 //Distance X from center of the body to the Left Middle coxa
#define cLMOffsetZ 0 //Distance Z from center of the body to the Left Middle coxa
#define cLFOffsetX 43 //Distance X from center of the body to the Left Front coxa
#define cLFOffsetZ -75 //Distance Z from center of the body to the Left Front coxa
#define cHexInitXZ 105
#define CHexInitXZCos60 53 // COS(60) = .5
#define CHexInitXZSin60 91 // sin(60) = .866
#define CHexInitY 25
[/code]
I have attached a crap sketch of my hexapod body dimensions which shows the axis system I believe the hexapod code uses.
Thanks in advance for the help.
