This is the
second arm i built
bigger base servo
better claw
more repeatable and less wobble
https://www.youtube.com/watch?v=LxtpB_15iQQ
video of it working
picks up object
drops it at top of slide
repicks object
code for the above arm
// 26/02/2016
// mk VI
// This one is for the large wooden arm with 5 servos
// base shoulder elbow wrist claw
// pick up object from POINT A on table
// and deposit it at the top of the slide POINT B
#include <Servo.h>
Servo myservob; // base
Servo myservos; // shoulder
Servo myservoe; // elbow
Servo myservow; // wrist
Servo myservoc; // claw
int del = 600; // preset delay
void setup()
{
Serial.begin(9600);
// set servo pins
myservoc.attach(6); // claw 0-180
myservow.attach(7); // wrist
myservoe.attach(10); // elbow
myservos.attach(8); // shoulder
myservob.attach(9); // base
// start routine
myservoc.write(0); // close claw
delay(del); //
myservoc.write(180); // open
delay(del); //
myservoc.write(0); // close
delay(del); //
myservow.write(0); // wave wrist
delay(del); //
myservow.write(180); //
delay(del); //
myservow.write(125); // middle
delay(del); //
myservoe.write(75); // wave elbow
delay(del); //
myservoe.write(135); //
delay(del); //
myservos.write(45); // wave shoulder
delay(del); //
myservos.write(70); //
delay(del); //
myservob.write(5); // turn left / right
delay(del); //
myservob.write(175); //
delay(del);
delay(del); // pause at end of start routine
delay(del);delay(del);// pause at end of start routine
}
void loop() {
myservob.write(110); // turn to point A
delay(del); //
myservos.write(60); // shoulder lean forward
delay(del); //
myservoe.write(50); // elbow down
delay(del); //
myservow.write(135); // wrist down
delay(del); //
myservoc.write(180); // open claw
delay(del); //
myservow.write(180); // grab routine
delay(del); //
myservos.write(80); //
delay(del); //
myservos.write(107); //
delay(del); //
myservoc.write(0); // close claw
delay(del); //
myservos.write(70); // lift up
delay(del); //
myservow.write(180); //
delay(del); //
myservow.write(180); //
delay(del);
delay(del);delay(del); // wait to stabalize load
myservos.write(20); // lean back to avoid obstical
delay(del);
myservoe.write(100);
delay(del);
myservob.write(180); // turn to point B (slide)
delay(del);
myservow.write(140); // position and drop object at top of slide
delay(del);
myservos.write(70);
delay(del);
myservoe.write(90);
delay(del);
myservow.write(160);
delay(del);
myservoc.write(180); // drop object
delay(del);
myservos.write(20); // shoulder lean forward
delay(del);
delay((del*4)); // Long wait at end of routine
} // end of sequence return to begining
wobble reduction
Pretty neat. If you add a gyro/accelerometer to the end of the arm you might be able to reduce wobbling with closed-loop feedback control.
wobble
i think using millis instead of delay would help too
but fundermentally only one lolly stick to support the claw was a mistake
it needs like a bearing and another lolly stick on the other side
and maybe another bearing on the base to support it.
i have been working on an electro magnet claw version with a half decent turntable made out of marbles
but its no where near 'ready' yet