Experiments with Pi Zero robot arm

Parts List

• DIYmore 6dof robot arm on amazon
• Pi Zero (1st gen)
• Servo Hat
• Various connectors servo cable extenders
• PSU for the Hat
• Upgrade shoulder and elbow servo to 25kg/cm servos
• Metal horns(?) for the servos

The code (outline for now)

All in python

• Flask for communicating with the code via a web front end
• Some easing functions to make the servos start and finish smoothly
• multithreading to allow all servos to move in parallel
• and my own experiments to try to get all servo moves to start and finish at the same time

TODO

• Organise code structure properly in line with Flask setup
• Better ajax(?) communication with the flask server
• graphical sliders for position
• limits on inputs!!!
• graphic of arm position??
• Inverse kinematics? ie just say where you want the gripper to be and the rest is worked out?