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Robotic arm control

  1. Nov 26, 2012 #1

    ffp

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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) ?
     
  2. jcsd
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