- #1
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βHi, I'm working in a project with an arduino mega 2560 controling a robotic arm with 2 DOF moved by servo motors.
I want to make the arm lift vertically about 20 cm as if it would carry a transformer to a pole. I was thinking in inverse kinetics (don't know if that's the name in english) to make it.
This means:
dθ= J^-1 * dh
Where dθ is the matrix of the angle vriations, J is the jacobian matrix and dh is the variation of height.
I'll try to ilustrate the problem:... ______(l2)_____
...\......|
...\ ......| h
.(l1)..\......|
...\....|
--------------------------------
.....d
l1 is the first apendice with 9.2cm and the angle between it and the horizontal line is α, which starts as 30°.
l2 is the second apendice with 9.7cm and the angle between it and the horizontal line is β which starts as 0º.
h is the height of the tip of the arm and starts as 6cm and goes until 15cm.
d is the distance between the robot base and it's tip and is constant at 5cm.
Correct me if I'm wrong but wouldn't the jacobian matrix J be:
l1*cos(α) l2*cos(β)
l2*sin(α) -l1*sin(β) ?
I want to make the arm lift vertically about 20 cm as if it would carry a transformer to a pole. I was thinking in inverse kinetics (don't know if that's the name in english) to make it.
This means:
dθ= J^-1 * dh
Where dθ is the matrix of the angle vriations, J is the jacobian matrix and dh is the variation of height.
I'll try to ilustrate the problem:... ______(l2)_____
...\......|
...\ ......| h
.(l1)..\......|
...\....|
--------------------------------
.....d
l1 is the first apendice with 9.2cm and the angle between it and the horizontal line is α, which starts as 30°.
l2 is the second apendice with 9.7cm and the angle between it and the horizontal line is β which starts as 0º.
h is the height of the tip of the arm and starts as 6cm and goes until 15cm.
d is the distance between the robot base and it's tip and is constant at 5cm.
Correct me if I'm wrong but wouldn't the jacobian matrix J be:
l1*cos(α) l2*cos(β)
l2*sin(α) -l1*sin(β) ?