Difference between revisions of "Robot Arm"

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= External Links =
 
= External Links =
 
* a manual
 
* a manual
  +
* j3parker's [http://csclub.uwaterloo.ca/~j3parker/arm.png 3D model of the arm]

Revision as of 15:53, 19 December 2011

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>

S, T are optional as far as we are aware.

Key:

  • <servo id> - id of the servo being controlled (includes jaw)
  • <position> - servo rotation position, generally between (500,2500)
  • <speed> - speed of rotation; leaving this off generates fast movement, 400 seems like a "safe" value?

Servo key and degree of motion

  • 0 - ???
  • 1 - ???
  • 2 - ???
  • 3 - ???
  • 4 - ???
  • 5 - ???

Purpose

The current purpose of the robot arm is to make an entity that can play chess against a human.

External Links