This project involved designing, 3D printing and controlling a 4 degree of freedom Robotic Arm. The Arm is powered by analog feedback servo motors from Adafruit. The Arm Kinematics are written using Denavit-Hartenberg convention.
Software:
- ArmCalib.py: This file houses the calibration code for the arm. It can be used to set the min/max feedback angles for each of the Arm's joints.
- ArmCommandTranslator.py: This file houses the low level control codefor the Arm, converting the target joint angle into appropriate Servo PWM.
- ArmKinematics.py: This file houses the Arm Kinematics (Forward and Inverse) based on the D-H convention.
- ArmPosFeedback.py: This file processes the raw anaog feedback from the servo motors into physical arm joint angles.
Hardware:
- Motors: Analog Feedback Servo (https://www.adafruit.com/product/1404)
- Development Board: Raspberry Pi 3 - Model B - ARMv8 with 1G RAM
- Motor Driver: Adafruit 16-Channel PWM / Servo HAT for Raspberry Pi - Mini Kit
- ADC IC: MCP3008 - 8-Channel 10-Bit ADC With SPI Interface
