I have programmed the PTP movement for the SES arm.
I looked at the RIOS software. But it was to confusing for me.
So I made my own version of this (in VB6) based on a book of William Wolovich.
The zip file has no gripper programmed. I will put this online later.
This zip fle is only a first version.
So let me know what the likes/dislikes are.
I am now working on the linear movement with the first 3 servo’s.
Later I want the fourth servo also included in the inverse kinematics.
I am still looking for info about inverse kinematics in the case when 4 servo’s
are used.
The ZIP file seems to be invalid. The video was good, 'tho. Seems you’ve already got the arm moving pretty good!
I haven’t seen RIOS, so can’t comment. I found SEQ confusing.
PEP? Point-To-Point? “Peek Envelope Power”? ;>)
William Wolovich at Carnegie Mellon University? or at Brown? What’s the title of the book?
Perhaps you can try to post the ZIP file again, or email it. My email address in the button at the end of this post. I’m curious to see what you’re doing. No arm projects (LM type) yet. Although I do have an arm with stepper motors that I built a long time ago.
Alan KM6VV
PS EDIT: OK, funny way to do a ZIP download, but it opened this time. Comments later.
PPS EDIT: Fired up the program. It looks promising, but I didn’t see a COM port setup, nor was I able to see any output from the program.
Do you intend to make the source code available at some time? I’d be curious to see more of what you’ve done.
I put the latest version online (same link).
So now you can use the gripper also. Just as in the movie.
I still have to make the COM port setup. Now its works at 9600 baud rate and COM port 1.
To use the robot you do the following:
0. enable all servo’s
press: Servo settings and calibrate the robot --> press save
put the robot in his home position and press Set Home Position --> press save
move the robot anywhere else and press than Goto Home Position
The robot should move now to his home position.
If this works then the PTP movement also works
PTP movement (only Set PTP works!):
put the robot in his first position and press Set PTP (I take always homepos as first pos)
move the robot to the second position and press Set PTP
do this for the actions that you want. My last point is also the home position.
after going thru all the points press show PTP data. Here you see all the points that the
robot is going to pass. (these are actually joint values)
give a program name like “test” and press Save Program
Now a txt file is generated (test.txt)
To see the robot in action select the txt file and press Run program
The robot should now move as teached.
PTP movement means that the robot moves from one point in space to the next one.
But between those point there is no straight path. For more info read the basics of
manipulators.
Everything that I learned came from this book:
Robotics: Basic Analysis and Design
William A. Wolovich
Brown University
ISBN: 0-03-006119-9
This is really a great book because it starts from zero. Each chapter has some
exercises.
Amazon.com has a “marketplace” - sort of like Ebay for books. I buy all of my college class books this way. Looks like there are a lot of copies of this book available used, starting at about $11. You have to be careful of different editions if you’re using the marketplace, but a quick mail to the seller can clear up any questions before purchasing.
