dotPlan

dotPlan

The robot arm is 5 axes of fun, though it does not have sensors, so any project would only be a bit of fun to implement some fancy movements automatically.

movement

motors

The motor terminology is M1 grabber open/close M2 wrist pitch M3 elbow pitch M4 shoulder pitch M5 base direction

motion types

M2 - M4 have identical gearing and similar distances to the fulcrums so synchronised motions (which are possible) can lead to quite effective linear travel up/down with just full on. Hence, some canned moves could be easily put together on top of the primitives of off / forwards / backwards.

base motion types

• gripper open/close
• wrist pitch up/down
• elbow pitch up/down
• shoulder pitch up/down
• base clockwise / anticlockwise

synchronised motion types

• fairly steady up/down gripper motion - M2 + M3 moving in opposite directions
• fairly steady backwards/forwards gripper motion - M3 + M4 moving in opposite directions
• gripper pitch up/down motion - M2 + M4 moving in opposite directions

other thoughts on movement

• speed control - sending small blips might work ?
• reset?
• position dependent motion (would need speed control?) for smoother motion?