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A Waist of Time

A project log for Open-Source 6-Axis Robotic Arm

A completely-open, scratch-built PUMA arm with 24" reach and 1lb payload

Colin KingsburyColin Kingsbury 10/05/2015 at 17:281 Comment

Things are starting to move quickly now. I have the arm mounted to a proper base so the "waist" joint is moving. It's a small incremental step, but it allows for much larger motions that look cool on camera. I also spent some time cleaning up the cabling before I spend six hours chasing a bug due to a pinched wire or something.

The next issue I want to solve is the synchronization of the joints. They're starting at the same time as designed, but they're supposed to adjust their speeds so that they arrive at the final position at the same time as well. That's not happening, which could be due to any number of issues in the firmware.

Discussions

Rue Mohr wrote 02/09/2017 at 15:24 point

http://ruemohr.org/~ircjunk/programming/c/stepmotion/interlin.c

its an old version, but might help you out. its designed for stepper motors, all positions are integers, convert real world numbers to steps before using. see directory for more files.

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