AR2 robot - Programming Part 1

[@LZ-eu7xs]

Good person you are Chris. thank you for your videos

[@leandrofs5500]

Good job Chris!! That's awesome, the way how it works, it's very simple and easy to program. Thx you for sharing that with the world. Thx from Brazil.

[@anninrobotics]

Cool, Im glad you like it. thank you.

[@stevenhill1878]

hw much does the AR2 software cost and where to get it?? this is more my style of programming. what control board are you using??

[@anninrobotics]

Hello, all the software is free and you can see everything for the project at www.anninrobotics.com The robot currently uses a teensy 4.1 control board.

[@benjefferson8609]

Does this program output gcode to the robot arm?

[@samverghese6311]

sir i like to know how u interface with the stepper.?

[@anninrobotics]

Hello, the PC program is written in python and uses the serial module to send strings to the Arduino the Arduino then interprets the strings and sets the correct amount of steps out to each driver

[@youngjm1]

My X, Y, Z movements don't work correctly. If I type in 20 for example into the program the robot moves in random directions. It doesn't move just in one direction like yours does. It will twist all sorts of ways and move arms randomly. Is this a calibration, programming, or wiring problem?

[@anninrobotics]

Does each joint jog + - in the correct directions?

[@youngjm1]

Yes, if I jog in the - direction, each motor will twist towards the limit switch. Does it have to do with my home position/ fine calibration position? Also, I got nowhere near 15200 steps for J1 and J4. I got 3915 for J1, and 4800 for J4, not sure if that helps.

[@JK-ku2mj]

@@youngjm1 is the problem solved?

[@leonardobautista4491]

hey bud congrats for this job cherrs from MEXICO

[@anninrobotics]

Thanks, glad you like the project.

[@rushbigmoney]

awesome intro

[@kdrkfl]

Hi, can you please share inverse kinematics calculations? I am trying to learn kinematics but inverse is really difficult. Which matrices did you get inverse? First three?

[@anninrobotics]

Kadir Kafalı I have 8 videos on kinematics as well as you can download the excel spreadsheet they are worked out on from my github repository. Hope that helps.

[@oldmatedesigns]

Hi, Very good project! I am looking at building a servo motor robot to feed CNC Milling machines and CNC lathes. Would your software work with Servo motors? They require step and dir inputs much like a stepper.

[@anninrobotics]

If each motor requires only step and direction inputs it should work but I'm not familiar with the type of motor you are using so I couldn't say for sure. You might want to look at the wiring schematics and watch the video on calibration to give you a better understanding how my setup works.

[@oldmatedesigns]

Chris Annin thankyou I have wanted the videos and believe I can get it to work. Thanks again for contributing so much!

[@anninrobotics]

you are welcome, I hope these help.

[@danielbernardesoliveiracor7556]

Hi Chris very good the software! You think add the system 6D-marker to create the moves?

[@anninrobotics]

Eventually I would like to add that functionality but it’s not setup for that yet

[@danielbernardesoliveiracor7556]

I am very interest for this setup, because i think its the future.

[@lhermite7821]

Hi Chris, greetings from europe, first of all great job and thank you for sharing! I want to make a more than 3 axis cnc machine for doing 3D sculptures in tender woods, do you think your arm robot can do the job (strengthness?programability ?) I do not need 6 axis but It seems easier to do this robot arm for me than decrypting other incomplete tutorial videos )

[@anninrobotics]

Currently the program structure is just point to point but I’m working on the kinematics and making the Positions in the program on relative to Cartesian coordinates and eventually someday I’d like to get it to interpret G code but I’m probably a ways off from that.

[@lhermite7821]

thats what I guess. that's why I oriented myself on reproducing your cnc engraver fisrt then I will try to add a fourth axis rotating, it will be a challenge for my level on programming. only one rotating axis should be easier to understand and transcribe than six for me. thank you for your answer Chris.

[@shirlyiang969]

sir how to dwnload ar2 application stepper motor version,

[@anninrobotics]

You can download all the software at www.anonrobotics.com

[@GenAITutorials]

First Comment. Great Work. I am a fan.

[@anninrobotics]

Thank you

[@raycarberry1089]

Well done mate, you're an inspiration :-)

[@anninrobotics]

Thank you Sir.

[@唐唐-k6b]

hi sir 。how to use ar2 software？I JUST know Chinese。i need your help。

[@anninrobotics]

I have a video on my channel on programming which may help, but im not sure how to translate this to chinese.

[@赵捷达]

Hi，sir, this is a good project ! I want to know how I can modify the DH para meters for other 6R robot.Can you give me the steps?

[@anninrobotics]

There is a tab in the program where you can input or change the DH parameters. I’m not sure if that answers your question let me know if you have any other questions

[@walterp7125]

great !

[@karishibhati9831]

can it work for Arduino Uno??

[@anninrobotics]

karishi bhati it’s setup for pin outputs on mega but it would probably run

[@Speaks4itself]

audio is bad

[@nenadstojadinovic8326]

Yo Chris, could you contact me please. I have a better application for your arm than chopping onions.

[@anninrobotics]

hello, what did you have in mind? my email is [e-mail] if you wanted to send me a message.thanks.