Arduino library to control a 6DOF lightweight arm (kinton robot)
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Arduino Kinton Arm code

This code is designed to work with the 6DOF light-weight arm attached below the Kinton quadrotor. It is ready to work with almost all arduino models with at least 5 PWM outputs and it has implemented a data protocol over serial communication with the on-board pc.

This driver works together with the C++ low-level driver installed in the embedded pc. You can found more information and the C++ code in the IRI repository:

In the same way, this C++ low-level driver is prepared to work with a high-level ROS node in order to command the arm joints using ROS. The ROS node is part of the ROS iri-ros-pkg:

Who do I talk to?

If you need more information about the code implementation or the hardware requirements, please do not hesitate to contact me.