Just wondering, how to program the robot to move in circles? Say, instead of the gripper, you have a pen installed, and you want to draw a circle. Is it possible to do?
Im actually working on that now. currently the robot only has one move type "Move J" which is a joint move and that is fairly easy for the arduino to execute as its a single destination and it simply has all motors drive to the destination but the path of the tip isnt controlled. Im working to create the ability to execute waypoints along a straight line or along an arc. The problem is the low processing power of the arduino. The PC does most of the work and sends the point to the arduino - Im working on what I hope will work in sending the waypoints in one packet and then the arduino can execute consecutively - if the PC sends the waypoints one at a time the motion is jumpy. I'll post on the blog and youtube when the next software version is ready. hoping to incorporate Xbox controller in the next one too.
Im actually working on that now. currently the robot only has one move type "Move J" which is a joint move and that is fairly easy for the arduino to execute as its a single destination and it simply has all motors drive to the destination but the path of the tip isnt controlled. Im working to create the ability to execute waypoints along a straight line or along an arc. The problem is the low processing power of the arduino. The PC does most of the work and sends the point to the arduino - Im working on what I hope will work in sending the waypoints in one packet and then the arduino can execute consecutively - if the PC sends the waypoints one at a time the motion is jumpy. I'll post on the blog and youtube when the next software version is ready. hoping to incorporate Xbox controller in the next one too.