Manipulating a 2 DOF Arm
Jan - Feb 2025
GOAL: Manipulate a DOF arm with forward and inverse kinematics
SKILLS: forward/inverse kinematics
Building
Building
First, I had to quickly build a 2 DOF robot arm that uses two -90 to 90 degree servos. The end effector has an LED that can draw with the help of long exposure photography.
CAD
CAD
Task 1: Move arm to angles
Task 1: Move arm to angles
First, I made sure the arm was working and could go to specified angles. In the image below, a messy star shape is drawn this way
Task 1.5: Optomizing the workspace
Task 1.5: Optomizing the workspace
I quickly realized that the -90 to 90 degree range resulted in a very inconvenient workspace. With an envelope analysis in Matlab, I determined that 0 to 180 degrees is a better operating range.
To fix the range, I ....
Task 2: Inverse Kinematics to write an 'M' and draw an animal
Task 2: Inverse Kinematics to write an 'M' and draw an animal
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Code
Code
CODE PDF
Things to adjust in the future:
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