AR2 --> AR3 Software/Position Ratios
Hello, I am attempting to use my own software on an AR2 converted to AR3(uses AR2 motors), but am having position issues. The arm can calibrate itself and move to a position, but the output angles do not correlate to my input angles. I'm suspect of my step/angle and I don't believe my code accounts for the pully(J1/J4), chain(J3), and screw(J5) ratio yet. Thought I'd post to see if anyone had these values or solutions, while I work on getting them.
In the downloads section there is an excel sheet with all the joint calculations for step/angle or steps per degree that the AR4 software uses that might be helpful for you. Its call motor step calculation sheet.