Month: April 2014

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Arm3 software update 13

2014-04-13 Dan

two arms being installed

I’ve just updated the software for the Arm3 project. Everything between here and the San Mateo Maker faire is about putting my best foot forward. I’ve just rearranged the office to make a workspace for the arms. Now I have to lay out the components and teach them to assemble one of their own. I wonder how many tries it will take? You’ll have a chance to try it yourself at the faire.

The next step for me is to record and playback actions for several robots working in concert. This way the various stages of assembly can be tackled in sections.

I also rewrote the HTML and CSS for the site so that our facebook fans will no longer get the paypal logo where there should be a relevant robot picture.

Anyways, on with the software update.

Java software

I hope this program will be reused in the coming months to simulate all Marginally Clever robots.

– OpenGL graphics that simulate arms
– Synchronizes real arm(s) and simulation
– WASDQE+mouse camera controls
– UIOJKL arm movement w/ IK solving (moves along cartesian grid)
– RTYFGH arm movement w/o IK solving (moves motors only)
– Spacebar to switch between arms

Firmware

– added EEPROM version and GUID records

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Building an Open Source 3DOF Palletizing Robot Part 7: Training Software

2014-04-10 Dan

Arm3 robot trainer is coming along. There were several false starts until I figured out the right way to get Swing and OpenGL to play nice together in Java.

In this proof-of-concept the real machine moves to match the virtual model. The robot already understands Inverse Kinematics so there are two ways to drive the machine: the first is to move along XYZ lines and the IK system figures out how to match your request. The second is to move the motors directly. A trainer can use either one or both at once.

Next step is to record & play back sessions. Once that’s been achieved people can share training sessions with each other online – remix, tweak, collaborate, use github, and so on.

I’m looking for resellers and people who are interested in using this robot to solving real world problems. I’m also getting ready for the San Mateo Maker Faire & MakerCon. Will I see you there? We should meet up and talk shop.