Yes, you can use the AR4 software to control a 4DOF robot by operating it in Joint-Only Mode. While the software’s advanced kinematics are designed for a 6-axis arm, the joint control functionality provides the flexibility needed for custom builds.
Here’s how to set it up:
- Use Joint Control Mode: Navigate and program your robot using the joint sliders and the ‘Move R’ (Rotations) command. This mode commands each joint by its individual angle instead of using Cartesian (X, Y, Z) coordinates.
- Configure the Kinematics Tab: In the software, go to the Kinematics tab to input your custom motor steps per degree and joint parameters. Use the motor step calculation sheet available on our downloads page as a guide.
- Wire According to Schematic: Follow the standard AR4 wiring schematic for connecting your motor drivers to the controller, matching the joints you intend to use.
Key Consideration: This method will not provide inverse kinematics (IK) or automatic Cartesian path planning for your 4DOF arm. It is ideal for point-to-point programming where you teach each position manually.
For detailed calculations and the wiring diagram, please visit our Downloads Page.
