cgxeiji / cgx-inversek Goto Github PK

Is the a0-a3 angle is the angle between the arm? or what does it refer to?

hi i have a question about specific approach angle, what is the meaning of that?

Hi try to use the code to my arm but without good results because for my fault maybe.i have use 4 servos 180 degrees to fix that but is not working properly for mine .here is my build can you help me what i did wrong.in the photo with the build you can see how can the servo move from 0 to 180 .

Hi i have tested your inverse kinematics and the output which is the angle seems correct but i need your guide on how to assemble the arm im not using braccio but my arm have 3 links and 4 dof and it will works fine theorytically, at first i have assemble the arm just like the picture you included with initial angle of each servo is half of its roatatikn angke and it seems wrong

In README, as well as in the example code, the link lengths for Braccio are incorrect resulting in the calculations being off. The values that I measured and work for me are:

• base that connects a0 with a1 with a length of 74 mm,
• upperarm that connects a1 and a2 with a length of 125 mm,
• forearm that connects a2 with a3 with a length of 125 mm,
• hand that connects a3 with the end effector with a length of 160 mm.
  For the last one, the 160 mm points more less to the centre of the gripper, use 195 mm if you want to position the tip of the gripper instead.

With the above adjustments the code works great and makes the robot arm much easier to use.
Thanks!

Hello, i am currently trying to use your library in a school projet and i would have some questions for your library if possible...

firstly, what are the limits for x,y,z? like, the closest to the ground would be 0 for z i assume, but then maximum would be attained only if x/y are 0?

secondly, what is the angle representing? an image with what angle it is would really help me, because i don't know from what plane is this angle meseasured.

thirdly, the link lengths in your example, could it be they are not the same for every Braccio Arm? my arm have link lengths of 0,125,125,50 instead of the 0,200,200,270 you put down.

thank you

How did you get your min_angle and max_angle in the mylink.init(length, min_angle, max_angle_ ) function

When you say that the arm is "stretched out" when all servos are at 90 degrees do you mean that the arm will be standing straight up? Why is it that all joint angles would be 90 degrees? Would it not be 90 degrees for the base with 0 degrees for the remaining angles (ie upperarm, forearm, wrist)?

Typically aren't joint angles measured from the projection of the previous link? For example, if you had the arm standing straight up with the elbow bent 90 degrees to the right, the joint angles would be as follows: Shoulder -> 90, Elbow -> 90 (or 270 depending on how you are measuring), wrist ->180

I am trying to adapt your code to an arm run by linear actuators and I keep getting no solution found and I believe this is the issue, if you could clarify with some drawings it would be very helpful.

am trying to use this lib with robotic arm code which am controlling through servo.h lib

however am getting error

error: 'b2a' was not declared in this scope
   base.init(0, b2a(0.0), b2a(180.0));

any idea which lib have that b2a function

Hi~
Thank you for your code and example.
I wanna to know if this could be applied to multiple links robots like 6 ROF?
Thank you!