Difference between revisions of "Robot Arm"
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== Servo key and degree of motion == |
== Servo key and degree of motion == |
||
| − | * 0 - |
+ | * 0 - Base |
| − | * 1 - |
+ | * 1 - Shoulder |
| − | * 2 - |
+ | * 2 - Elbow |
| − | * 3 - |
+ | * 3 - Wrist |
| − | * 4 - |
+ | * 4 - Grip |
| − | * 5 - |
+ | * 5 - Wrist Rotate |
= Purpose = |
= Purpose = |
||
Revision as of 21:26, 18 January 2012
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
- j3parker's 3D model of the arm
