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General Discussion

3 DOF Compatibility

Dear Annin,

I really love the work you did with all the free software and math you give to us. I built a 3 DOF robotic arm and i'm using your software moving the joints. Actually, i'm using the AR2 software for the Arduino Mega. I wanted to know if it is better to move to the AR4 software in my case, because i just see that have significantly changes for the 6 axis arms. Also, i wanted to know if with your software, i can make lineal moves with my 3 DOF arm.

Best regards,

Leo

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Chris Annin

Hello Leo, You could certainly update to the AR4 software and take advantage of some of the updates however the kinematics are structured only for a 6DOF robot arm. You can continue to use the software you just wont be able to take advantage of any of the cartesian jogging - you would need to jog in joint mode and use the MoveR command to save your positions according to the joint value.