Below table with the parameters, Where θ is the rotation around Z, d is the translation in Z, a is the translation in X, and α is rotation around X
| i | θi | di | ai | αi |
|---|---|---|---|---|
| 1 | q1 | a1 | 0 | 90 |
| 2 | q2 | 0 | a2 | 0 |
| 3 | q3 | 0 | 0 | 90 |
| 4 | q4 | 0 | a3+a4 | 0 |
Angles are in degrees and displacements in mm
run these command in your terminal or command line, if you don't have pip, install it first.
pip install numpy
pip install pandas
pip install plotly
pip install pyfirmata
Make sure to change "from tkinter import *" to "from Tkinter import * " if you are using windows.
1- using pyFirmata's Python interface for the Firmata protocol i managed to control the arduino with tkinter GUI and control each joint to get the desired position and orientation, or choose specific point in space or even make incremental changes in the coordinates.(IK not working yet)
to spare myself the agony of connecting all these wires i made an arduino sheild for the servos
[1] F. C. Park., K. M. Lynch INTRODUCTION TO ROBOTICS MECHANICS, PLANNING, AND CONTROL.
[2] Sodemann, A. Robotics1. Retrieved from http://www.robogrok.com./Robotics_1.php