Check for incoming data if (Bluetooth. In Part 2 of this article series, I’ll be discussing topics more related to the mathematical foundations of robotics, such as configuration spaces, robot pose representation in three dimensions, homogeneous transformations, Denavit-Hartenberg parameters, direct kinematics and inverse kinematics with the pseudo-inverse Jacobian. When developing the robot these were simply wired up on a bread board as follows: This works as needed, however for the custom control box, there needs to be a more compact and elegant solution. FIGURE 8 Robotic arm, embedded controller and companion computer.

Then in the loop section we start by checking whether there is any incoming data. As mentioned, all four joints use NEMA 17 and 11 steppers, which are controlled by four A4988 boards with the 1/4 step pins connected high. begin( 38400) // Default baud rate of the Bluetooth module So it stands to reason that Arduino-controlled robotic arm kits would also be popular. Robotics is also one of the most popular projects for Arduino enthusiasts. Set initial seed values for the steppersīluetooth. The Best Arduino Robotic Arms The Arduino is probably the single most popular programmable controllers used by makers around the world.

Int lbw, lfw, rbw, rfw // arrays for storing positions/steps int servo1Pos, servo2Pos, servo3Pos, servo4Pos, servo5Pos, servo6Pos // current position int servo1PPos, servo2PPos, servo3PPos, servo4PPos, servo5PPos, servo6PPos // previous position int servo01SP, servo02SP, servo03SP, servo04SP, servo05SP, servo06SP // for storing positions/steps int speedDelay = 20 SoftwareSerial Bluetooth (A8, 38) // Arduino(RX, TX) - HC-05 Bluetooth (TX, RX) // Define the stepper motors and the pins the will use AccelStepper LeftBackWheel ( 1, 42, 43) // (Type:driver, STEP, DIR) - Stepper1 AccelStepper LeftFrontWheel ( 1, 40, 41) // Stepper2 AccelStepper RightBackWheel ( 1, 44, 45) // Stepper3 AccelStepper RightFrontWheel ( 1, 46, 47) // Stepper4 # define led 14 int wheelSpeed = 1500 # include # include # include Servo servo01

In the setup section we set the maximum speed of the steppers, define the pins to which the servos are connected, begin the Bluetooth communication and set the robot arm to initial position. So first we need to define the 6 servo, the 4 stepper motors and the Bluetooth communication, as well as define some variables need for the program below. And at the end of this article I will post the complete source code. As the code is a bit longer, for better understanding, I will post the source code of the program in sections with description for each section. What’s left is to take a look how the Arduino code and the Android application work.

Robot arm arduino