Project Logs

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• Updates on Inverse Kinematics and Manual Control

  Luis, Chloe, Ola • 03/20/2025 at 06:50 • 0 comments

  We updated the arm to get the IK mostly working . It can move to certain points, but is still inaccurate for others. For our demo day, we added button controllers to move each servo in both directions. Here are some pictures!.

• Updates on Arm Movement and Assembly

  Luis, Chloe, Ola • 02/27/2025 at 23:54 • 0 comments

  The robotic arm has been fully assembled and powered. The inverse and forward kinematics code has been written and in the middle of being debugged. Next steps involve fixing the inverse and forward kinematics code and modeling it on the MuJoCo physics simulator.

• Updates on CAD Files and Programming

  Luis, Chloe, Ola • 02/06/2025 at 22:24 • 0 comments

  We've been printing our CAD files for the arms, but have needed to reprint a few times to adjust tolerances and other small details. We're currently working on adding notches to the servo mounts and making counterbores for some of the nuts. We're also making spacers to make the assembly more stable. 

  The servos have also arrived! We've tested them with potentiometers, although there is a lot of noise. We tried adding a capacitor and exponential-moving-average filter, but they failed to decrease the noise, so we'll continue testing.

  Below are some pictures of current prints! Although we have to update some.

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