I have attached the lynx ses series arm to the IRobot Create and am now trying to figure out the arm via hyperterminal to determine the ascii characters needed for it to bend down and pick something up (the IRobot is the ‘brain’ of this so I will connect the two via serial cable and then use the create to tell the arm what to do if it bumps into something or receives and IR signal). I was wondering what types of commands to input to make the arm move. I see the forum talks about commands like fprintf(s, ‘#1P1200T1000’) but I was wondering if you had any further information about what commands to use, and what the baud rate should be.
seems like this is a totally different topic and should be in it’s own thread so when roop revisits the forum he can report his success or continue trying to resolve the problem in his thread.
The command set for the data sent to the arm are documented in the ssc-32 manual here.
At the most basic level you individually control the position of each axis by sending a position in units of mili-seconds. Abstracting to a higher level, applications like the SEQ or RIOS provide the ability to specify angles, create software offsets and limits to deal with mechanical limitations and tolerances, and group sequences of positions together into sequences. These are PC based programs and can generate fragments of source code for the BASIC Atom products allowing one to use the sequences in a programatic fashion based on inputs and stimuli. It may be possible to port the code generated to your platform but honestly I have no idea how significant of a task that might be.
The process of turning cartesian coordinates into the angular positions of the joints is called inverse kinematics (IK). this is a topic which comes up frequently in discussions on the board. while I am not going to hunt down and post all the links to the projects and programs available on the lynxmotion site, I believe if you search for the terms you will find much information in many other posts on this forum, including some pointing to off site references with lots of technical explainations and equations and the like (if I remember correctly anyway.)
