A work in progress. PhillyCodefest is an opportunity to build the basic libraries and implement the base functionality of the robot arm. Goals for the weekend are:

  • Develop a method of moving the arm to a given position in x,y,theta coordinates
  • Develop a method of controlling the arm manually for testing and debugging purposes

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Nikola Obradovic posted an update

After more testing and prototyping, the implementation of programmatic limits to the arm's motion is a much more involved task than we'd anticipated. This will be completed at a later date, with more sleep. More work was done to refine the IK algorithms, and the motion of the arm is now much more accurate at extreme angles.

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Nikola Obradovic posted an update

The robot arm now has the ability to calculate its position by inverse kinematics. It can be controlled manually with a Wii Nunchuck. Still to be done this weekend: establishing programmatic limits to the arm's motion to prevent manual control from damaging the arm.

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