← YAO
Project files
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Machine-translated by Robotheca from the original in Chinese (opens in a new tab). License: BSD-3-Clause (opens in a new tab).
Electrical
Motors and Drivers
- Oriental Motor reduction stepper motor kit. You can choose a suitable motor and driver solution according to your actual needs.
Motion Controller
- Galil DMC-2183/DMC-4080. You can choose the appropriate controller solution based on your actual needs.
Control Unit
- PC system based on Ubuntu + ROS Kinetic.
Mechanics
- Design and structural verification have been completed. Mainly self-designed with reference to the ABB IRB 14000 robotic arm.
Software
- Completed the setup of the ROS-based MOVEIT+GAZEBO simulation system.
- Preliminary completion of the system framework program. Pull requests welcome.
Inverse Kinematics
| Parameter | Analytical Solution |
|---|---|
| $\theta_1$ | $$\arctan2(p_y, p_x) - \arcsin{\frac{a_1}{\sqrt{p_x^2 + p_y^2}}}$$ |
| $\theta_2$ | $$\arctan2\left( p_z - d_1, \sqrt{p_x^2 + p_y^2} - a_1 \right) - \arctan2(a_3\sin{\theta_3}, a_2 + a_3\cos{\theta_3})$$ |
| $\theta_3$ | $$\pm \arccos{\frac{L^2 - a_2^2 - a_3^2}{2a_2a_3}}\quad(\text{± corresponds to "elbow up/down" configurations})$$ |
| $\theta_4$ | $$\phi - (\theta_2 + \theta_3)$$ |
| $\theta_5$ | $$\arctan2 \left(r_{32}, r_{31}\right)$$ |
| $\theta_6$ | $$\arctan2 \left( \sqrt{r_{11}^2 + r_{21}^2}, r_{33} \right)\quad(\text{degenerates to a gimbal lock when zero})$$ |
| $\theta_7$ | $$\arctan2 \left( r_{23}, -r_{13} \right)$$ |
| $\mathbf{p}_{end}$ | $$[p_x, p_y, p_z]^T$$ |
| $L$ | $$\sqrt{(p_z - d_1)^2 + \left( \sqrt{{p_{x}^2 + p_{y}^2}} - a_1 \right)^2}$$ |
| $\phi$ | $$\arg\min \sum_{i=1}^7 \left(\theta_i - \theta_{i,home}\right)^2 \quad (\text{Minimum energy criterion})$$ |
Drawings
Files by @Enabotech, at commit 1b6603d, read from GitHub in your browser. Hardware license: BSD-3-Clause; software license: BSD-3-Clause. Robotheca doesn't review code: read it before running it.