Only use a computer and Arduino mega2560 to control AR4
My AR4 is driven by six stepper motors, can I control it using only a computer and Arduino mega2560 without using Teensy? If possible, can we use the AR4 HMI interface?
Hello, you can use the older AR2 software. The AR2 performed all the kinematics on the computer side and sent move commands to the Arduino mega. You would need to go to the downloads tab, switch to the AR2 tab and checkout all the software and downloads for that robot. You would need to rewire your mega to match the pins for the step and dir of the drivers to be the same as the AR2 and change the DH parameters. If possible I would highly recommend purchasing a teensy 4.1 board and use the latest software and wire your robot drives to the teensy board.
Chris Annin Thank you for your answer! I would like to try the AR2 mode first. One more question: Is it sufficient to simply replace the default values in "AR2Software2.0 Calibration" with the DH parameters of AR4?
Yes that should work.
Chris Annin Thank you. I only had the time to continue this work recently. I found that there are some occlusion and overlapping issues with the AR2 software. Trying to maximize the window did not resolve the problem. Could you please let me know if there are any other solutions?🙂
For the older software the only things I can suggest are changing the screen resolution and decreasing the display scaling.
Chris Annin I have made some changes to the display parameters in the source code and regenerated the exe file, which resolved the window occlusion issue. Now I have another question: I am working on a fruit picking project, using YOLO to detect the fruits and a depth camera to locate their position in 3D space. Could you please tell me on how to send the spatial coordinates of the fruit to the robotic arm? (The camera calibration and eye-to-hand calibration have already been completed.)😀
Hello, how is your robotic arm coming along?If it’s convenient. Can we communicate?
zy c Open-loop stepper motor。 If you have a Teensy 4.1, it should be able to use the latest software， AR2.exe does not support Teensy 4.1. You can ask Chris Annin, or go to the discussion forum and search by keywords.