Robot Arm
Software
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.
Hardware
The arm is a Lynxmotion AL5D.
Operation
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
Key:
- <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
Purpose
The current purpose of the robot arm is to make an entity that can play chess against a human.
External Links
- a manual [1]
- j3parker's 3D model of the arm
