Python controlled robot arm: part 1

With the help of inverse kinematics, I was able to make a simple pick and place machine. In this version of the software, it's still necessary to define the coordinates of the piece of foam manually. I am planning to eliminate this and use video images to define the exact location.
Code:
github.com/NNaert/Python-cont...
Tinkerkit Braccio robot arm:
store-usa.arduino.cc/products...

[@SYNAPSEdwl]

Great job! I am currently working on a project of my own robot, I started with the simplest thing, I programmed forward kinematics. The next step is inverse kinematics.

[@tombackhouse9121]

Keep at it pal, IK is a satisfying nut to crack. You'll never be happier to see something move in a straight line!

[@seginim9576]

@@tombackhouse9121 power of maths

[@kingsleyekechukwu8229]

is it possible to link the coding u used i am stuck in the coding of my robot @BoGu

[@kaloanneichev3353]

Worked , thanks a lot!

[@PhG1961]

Waw, dit is echt schitterend !!

[@rockman1942]

ARMS:whats the purpose of my life? Me: you move stuff

[@davidegrasso3480]

Hi Natan, can you please tell me where to find the "prev_teta.txt" file? I'm having some problems running the code due to this file, that apparently my pc cannot find.

[@jichen6516]

This is a great project. I love it. I would like to integrate it into a robotics course. May I know the dimension of the wood board and also the measurements of grid you set it up. are 100, 200 and 300 marked on the board 100mm, 200mm, 300mm?

[@REALVIBESTV]

Why do the servo motors make so much loud noise?

[@muhriddintashlanov4538]

👌👏👏👏👏

[@crazylongjumper95]

A question: is there a way to know the value of the force that the gripper should exert in order to correctly grasp the object?

[@NathanNaerts]

Yeah it's possible, but not with this setup. The gripper is actuated by a cheap servo which can't be force controlled. A robot arm with such actuators, sensors and accuracy gets expensive real quick. You should look up: closed loop force control robot arm

[@handlesarefeckinstupid]

You could use pressure switches/ sensors on a feedback loop on the fingers the robots I have used had them to ensure correct grip. Some of the simpler ones had microswitches and servos set to torque.

[@judsondunne4075]

Currently having this issue when running any inverse kinematic function ("go to" or move vertically": AttributeError: module 'solverNNA' has no attribute 'move_to_position_cart' Any idea of what I should do

[@judsondunne4075]

I believe it is an issue with the get previous teta as it darkened up where I imported it. I am not sure what to do from here

[@carlliljedahl3499]

How did you compensate the play in the components? Are you able te get encoder data from the servos? Any other compensations done? Thanks :)

[@NathanNaerts]

No, i did an 'optical calibration' since the servo closed feedback postioning loop was off. I tried to match my positiong command to real servo angle that was created. E.g. o motor position of 93 degrees resulted in an effective arm position of 90 degrees. So, each time i needed an angle of 90 degrees, i write 93 to the motor.

[@NitinSharma-so9hg]

@@NathanNaerts Did you use optical encoder .

[@unaivirtolapitz7701]

@@NitinSharma-so9hg Not exactly. In this case, "optical calibration" means doing it aproximately by eye.

[@qtuan4070]

Can you let me know what is the list hardware is used in this project, thanks sir

[@williamhuang5329]

Hanzhen harmonic drive gear , robot joint , strain wave reducer, over 30 years experience

[@llbrandoxgtll6811]

I would like to learn how to do that compensation thing to get to exactly the same point... that's with the Control Theory course, right?... programming in python would also be part of this course?... or how come is that achieved? Excellent project friend, success.

[@NathanNaerts]

Thanks! The baclash compensation is actually quite simple. You just need to log previous operations of the arm. E.g. when the previous operation was CCW for the base servo, i now that the play is 3 degrees. So my next rotation that is CW, I just need to add an extra 3 degrees to the motor command. Try looking up backlash compensation.

[@abdelmajedmuktar3015]

It's one of my dreams to create my own robot, not just a robot arm but a really robot

[@seginim9576]

Don't keep on dreaming start doing..

[@automationrobotics4099]

What

[@neonicblader]

What type of micro controller are you using and what programming ide

[@NathanNaerts]

I write the code in Python (VScode). The microcontroller is an Arduino.

[@filbertfuraha]

please where can we find prev_teta.txt it's not linked in the repository

[@junaidmalik7140]

how should i run the code?

[@tag_of_frank]

Have you used ROS? Do you recommend pure python over ROS?

[@NathanNaerts]

No I haven't. It's on my to do list to try it out.

[@oldrepublic7251]

Great project. Do you think in use opencv?

[@NathanNaerts]

I use it in part 2

[@chrishofland264]

Hi, nice work, do you have a code to share...

[@NathanNaerts]

I uploaded the code to Git. Link in description.

[@chakerbellili2441]

I am working on my graduation project: “automation of fusible insertions by a robot.” When I follow this work, can I control the robot automatically to know each piece and place it in its appropriate place?

[@NathanNaerts]

It should work

[@chakerbellili2441]

Plz where i find the description of this code

[@NathanNaerts]

@@chakerbellili2441 There is no full documentation for the code. There is some explanation in the code itself. See description for the code.

[@judsondunne4075]

Could you maybe link code.

[@NathanNaerts]

I uploaded the code to Git. Link in description.

[@muhammadmohidfarooq456]

Can i get the code??

[@Pyramid1501]

Code is linked but missing BraccioRobot.h and Position.h?

[@NathanNaerts]

I don't think you need this in order to make it work? Or where do you see this?

[@Pyramid1501]

@@NathanNaerts in your github you linked, in the folder with the .ino file that you upload to the arduino. It includes these files but they are not in the github?

[@NathanNaerts]

@@Pyramid1501 Ah sorry, yes indeed. You can add these libraries through the 'library manager' of your python IDE. docs.arduino.cc/software/ide-v1/tutorials/installing-libraries

[@Pyramid1501]

@@NathanNaerts yeah thanks for the tutorial but where can I download these libraries

[@user-pl5yj1gs6u]

Brother I want to get why have you written one-twentieth of code using C++?

[@NathanNaerts]

Just to communicate with the Arduino. The arduino receives input from the python script to send the motor commmands.

[@user-pl5yj1gs6u]

@@NathanNaerts are there nice courses explaining how to program in this field?

[@NathanNaerts]

I recently used DatacCamp to learn a bit more about using Pandas. I can recommend the platform, it is really good!

[@ritikadiwekar8670]

Plz share me code 🥺🥺 tell me where I find code of this???

[@NathanNaerts]

It's in the description.

[@chakerbellili2441]

Plz Where can I find this description ?

[@waveboardteamturkey]

hi man, We are from Turkey. We are doing our Senior design project. We confused a lot and stucked in so many. If you would help us about our project. We would be so thankfull. We are waiting for your response. ps: Our topic is the exactly what you did in the video.

[@NathanNaerts]

What is the problem?

[@waveboardteamturkey]

@@NathanNaerts can ı add you on discord sir?

[@NathanNaerts]

@@waveboardteamturkey sorry i'm not on discord

[@waveboardteamturkey]

If you have any communication app or social media, I can add you. We need help and would like to accept your assistance.

[@waveboardteamturkey]

@@NathanNaerts if you have any communication app or social media we would like to meet up with you. We need very much help.