IKArm
Welcome to the Robojackets Inverse Kinematic Arm wiki!
Contents
Description
The Inverse Kinematic Arm project is an independent research endeavor that isn't affiliated with a robotics competition. The goad of the project is to explore control algorithms for implementing inverse kinematic control. This form of control is where the position of the end of the manipulator is controlled directly by giving it coordinates in 3 dimensional space to move to. The control algorithm is designed to determine what motions all the joints of the arm need to perform in order to achieve the desired end effector position.
The project will be conducted using a 3 degree of freedom arm that was taken off of an old bomb disposal robot(bombbot) that was donated to the Robojackets by Dr. Wayne Book. Each joint is controlled independently by Vantec Motor drivers taken from the bombbot. Also, each joint has a potentiometer connected to it for positional sensing. All of the motor drivers and potentiometers are connected to an Atmel AVR development board which serves as an RS-232 adapter for the robot. Currently, the AVR board will connect to the serial port of a computer, which will control the robot using Labview.
Initially the goal will be to implement forward kinematic control of the robot, which entails independent PID control of each joint and determining the position of the end effector. Then several different inverse kinematic control algorithms including:
- Velocity controlled IK
- Path Controlled IK
The last goal of the project will be to implement hybrid control of the arm position in order to achieve multiple objectives simultaneously.
Meeting Times
IK meetings will tentatively be held Sundays at 2PM and Wednesdays at 5PM
- The first meeting will be on Wednesday, Sept 6th at 4PM in the tin building. This is before the new members meeting, so it will be ending around 6PM.
Announcements
- 9/1/06 Project timeline has been posted here and the code for the AVR development board has been uploaded: AVR code
- 8/23/06 IK Arm meetings will resume soon. Check back for updates
Important Items
- Project Timeline
- AVR code to translate IK motor driver and sensor data to RS-232: AVR code
System Components
- Robot to Computer Interface
- Forward Kinematic control
- Inverse Kinematic control
- Path planning and hybrid control
