The robot arm was purchased with the intent of being used to create a mechanical turk. The code going towards this goal lives in ~ssalbiz/arm, use "git clone ~ssalbiz/arm" to make a copy.
The arm is a Lynxmotion AL5D.
Currently the arm is controlled by interfacing directly with /dev/ttySx or /dev/ttyUSBx . The syntax for controlling this is by sending the following string to the board:
#<servo id> P<position> S<speed> T<time>
You can control multiple servos with one command
#<servo id> P<position> S<speed> #<servo id> P<position> S<speed> T<time>
S and T are optional parameters
- <servo id> - id of the servo being controlled (includes jaw)
- <position> - servo rotation position, generally between (500,2500)
- <speed> - speed of rotation; 100 means 10s to rorate 90°; leaving this off generates fast movement, 400 seems like a "safe" value?
if both speed(s) and time are specified, time is a "minimum" and speed is a "maximum", i.e. the motion will take at minimum T milliseconds, but servoA will move no faster than speed SA
Servo key and degree of motion
- 0 - Base
- 1 - Shoulder
- 2 - Elbow
- 3 - Wrist
- 4 - Grip
- 5 - Wrist Rotate
The current purpose of the robot arm is to make an entity that can play chess against a human.
Not being worked on. Need to complete the following:
- Complete physical modifications to robot arm to allow it to reach all pieces on the board
- Calibrate arm base mount against chess board squares
- Make the robot arm code talk to a chess program
- Make the chess program talk to the chess vision code
- Make the arm not have terrible things happen when the servos heat up