Arduino Code:
const float cx=2; //coxa
const float fm=6.2; //femur
const float tb=8.3; // tibia
float L, L1;
float alpha, alpha1,alpha2,beta,gama;
void setup()
{
Serial.begin(9600);
}
void loop()
{
trigono_xyz(2, 4, 6); //contoh x,y,z
Serial.print("gama= ");
Serial.print(gama);
Serial.print(", alpha= ");
Serial.print(alpha);
Serial.print(", beta= ");
Serial.print(beta);
Serial.println();
}
void trigono_xyz(float x, float y, float z)
{
L1=sqrt(sq(x)+sq(y));
gama=atan(x/y)/PI*180;
L=sqrt(sq(L1-cx)+sq(z));
beta=acos((sq(tb)+sq(fm)-sq(L))/(2*tb*fm))/PI*180;
alpha1=acos(z/L)/PI*180;
alpha2=acos((sq(fm)+sq(L)-sq(tb))/(2*fm*L))/PI*180;
alpha=alpha1+alpha2;
}
Youtube: http://youtu.be/ziz6FRfRfJM
paperwork about kinematics: Robot Manipulator Control with Inverse Kinematics PD-Pseudoinverse Jacobian and Forward Kinematics Denavit Hartenberg
mas, boleh minta source code nya mas,
soalnya saya juga tertarik penelitian robot arm 3 dof.
terima kasih mas.
Maaf baru respon, kodenya dimana naruhnya dah lupa mesti diubek2 lagi,, dan mungkin sdr rizky dah ga perlu lagi :D,, maaf ya
what type of Robot is this for? im working with a Humanoid
I used it for 3dof hexapod leg, but it can be used for any 3dof system
Hey clean code 🙂 Can u explain the void loop part? and “trigono_xyz” is this the co ordinates for the end effector?
yes, xyz in trigono_xyz is end effector coordinates, on the example code above, void loop part just call trigono_xyz() function, eg, end effector we desire is x=2, y=4, z=6, we write trigono_xyz(2,4,6) inside void loop, trigono_xyz will calculate the angle for each joint and display it on serial monitor, you could use another xyz end effector position as long as lenght of coxa, femur and tibia could reach it.
mas, kalo mau belajar invers kira” mulainya dari mana?
mohon bimbingannya mas, buat skripsi.. hehe
please help me to write the code for 8 servo( 4 servo in each leg) biped humanoid robot to walking.
Its great article, thankyou
Its great article, thankyou for sharing